WO2021238715A1

WO2021238715A1 - Positioning method and apparatus, robot, beacon, system, device, and medium

Info

Publication number: WO2021238715A1
Application number: PCT/CN2021/094261
Authority: WO
Inventors: 赵坚钧; 姚秀军; 桂晨光
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2020-05-25
Filing date: 2021-05-18
Publication date: 2021-12-02
Also published as: CN111629338B; CN111629338A

Abstract

Embodiments of the present invention provide a positioning method and apparatus, a robot, a beacon, a system, a device, and a medium. The method is applied to an inspection robot, the inspection robot is provided with a near field communication reader and a proximity sensor and used for inspecting a track on which a plurality of beacons are arranged in advance, and each beacon is provided with a near field communication tag and a proximity sensor trigger switch. The method comprises: reading, by the near field communication reader on the inspection robot, the near field communication tag on each beacon to obtain position information of the track corresponding to the near field communication tag; when the inspection robot passes by each beacon, in response to the trigger of the proximity sensor trigger switch, generating a trigger signal by the proximity sensor; and in response to the trigger signal, updating the position of the inspection robot on the track by means of the position information. According to the technical solution of the embodiments of the present invention, the inspection robot can be positioned with high precision and low cost.

Description

Positioning methods, devices, robots, beacons, systems, equipment and media

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office, the application number is 202010451421.1, and the application name is "positioning method, device, robot, beacon, system, equipment and medium" on May 25, 2020, all of which The content is incorporated in this application by reference.

Technical field

The present invention relates to the technical field of positioning, in particular to a positioning method, a positioning device, an inspection robot, a beacon, an inspection system, an electronic device, and a computer-readable storage medium.

Background technique

Pipe gallery inspections are common in power cable integrated pipe gallery inspections, railway tunnel inspections, subway pipe gallery inspections, and urban integrated pipe gallery inspections. As the pipe gallery is generally built underground, how to locate the inspection robot for the pipe gallery inspection has become the focus of attention.

In a technical solution, the global positioning system (Global Positioning System, GPS) is used to locate the inspection robot. However, because inspection robots often work underground, poor underground GPS signals can make accurate positioning impossible. In another technical solution, the UWB (Ultra Wide Band, UWB) positioning technology is used to locate the inspection robot, that is, a certain number of UWB base stations are installed in the indoor space, and the inspection robot is determined by the principle of triangulation. position. However, because the pipeline gallery inspection is a long-distance and long-strip inspection condition, the cost of setting up a UWB base station is relatively high. Therefore, how to locate the inspection robot with high precision and low cost has become a technical problem to be solved urgently.

Summary of the invention

The embodiment of the present invention provides a positioning method, positioning device, inspection robot, beacon, inspection system, electronic equipment, and computer readable storage medium to solve the problem of how to locate the inspection robot with high precision and low cost .

According to a first aspect of the embodiments of the present invention, a positioning method is provided, which is applied to a patrol robot, where a near-field communication reader and a proximity sensor are provided on the patrol robot, and the patrol robot is used to The tracks of a plurality of beacons are inspected, the beacons are provided with a short-range communication tag and a proximity sensor trigger switch, and the method includes:

Reading the near field communication tag on the beacon by the near field communication reader on the patrol robot, and acquiring the position information of the track corresponding to the near field communication tag;

When the inspection robot passes the beacon, in response to the triggering of the proximity sensor trigger switch, a trigger signal is generated by the proximity sensor;

In response to the trigger signal, the position of the inspection robot on the track is updated through the position information.

In some exemplary embodiments of the present invention, the obtaining the position information of the track corresponding to the short-range communication tag includes:

Acquiring identification information of the near field communication tag;

Obtain corresponding location information of the track from a data table according to the identification information, where the data table includes identification information of the short-range communication tag and corresponding location information of the track.

Acquiring the corresponding position information of the track pre-stored by the short-range communication tag.

In some example embodiments of the present invention, the generating a trigger signal through the proximity sensor in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon includes:

If the inspection robot travels to the trigger position corresponding to the proximity sensor trigger switch, in response to the trigger of the proximity sensor trigger switch, the trigger signal is generated by the proximity sensor.

In some example embodiments of the present invention, the method further includes:

When the inspection robot is started or restarted, determining whether the inspection robot is within the recognition range of the near field communication tag of the beacon;

If it is not within the recognition range of the near field communication tag, drive the inspection robot to drive toward the starting point;

When passing the beacon during driving, in response to the trigger signal, correct the position of the inspection robot on the track according to the position information.

If it is in the recognition range of the near field communication tag, drive the inspection robot to move toward the end point first, until the inspection robot drives out of the recognition range of the near field communication tag;

The inspection robot is driven to travel toward the starting point, and when passing the beacon during driving, in response to the trigger signal, the position of the inspection robot on the track is corrected according to the position information.

In some example embodiments of the present invention, the near field communication reader is a radio frequency identification RFID code reader, and the near field communication tag is an RFID tag.

In a second aspect of the embodiments of the present invention, a positioning device is provided, which is applied to a patrol robot, and the patrol robot is provided with a radio frequency identification short-range communication reader and a proximity sensor, and the patrol robot is used to A track with a plurality of beacons arranged in advance for patrol inspection, the beacons are provided with a short-range communication tag and a proximity sensor trigger switch, and the device includes:

The position information acquisition module is configured to read the near field communication tag on the beacon through the near field communication reader on the inspection robot, and obtain the track corresponding to the near field communication tag Location information;

A trigger signal generating module, configured to generate a trigger signal through the proximity sensor in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The position update module is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.

In some embodiments of the present invention, the location information acquiring module is specifically used to:

Acquiring identification information of the near field communication tag;

In some embodiments of the present invention, the trigger signal generation module is specifically used to:

If the inspection robot travels to the trigger position corresponding to the proximity sensor trigger switch, in response to the proximity sensor trigger switch, the proximity sensor generates the trigger signal.

In some embodiments of the present invention, the device further includes:

A range determination module, configured to determine whether the patrol robot is within the recognition range of the near field communication tag of the beacon when the patrol robot is started or restarted;

The first driving module is configured to drive the inspection robot to travel toward the starting point if it is not within the recognition range of the short-range communication tag;

The first position correction module is configured to correct the position of the inspection robot on the track in response to the trigger signal when passing the beacon during driving.

In some embodiments of the present invention, the device further includes:

The second driving module is used to drive the inspection robot to move toward the end point first if it is in the recognition range of the near field communication tag, until the inspection robot drives out of the recognition range of the near field communication tag ；

The second position execution module is configured to drive the inspection robot to drive toward the starting point, and when passing the beacon during driving, in response to the trigger signal, correct the inspection robot according to the position information The position on the track.

In some example embodiments of the present invention, the short-range communication reader is an RFID code reader, and the short-range communication tag is an RFID tag.

A third aspect of the embodiments of the present invention provides a patrol robot, the patrol robot is provided with a radio frequency identification short-range communication reader, a proximity sensor, and a processor, and the patrol robot is used for pre-arranged A track with multiple beacons is patrolled, and the beacons are provided with a short-range communication tag and a proximity sensor trigger switch, where:

The near field communication reader is used to read the near field communication tag on the beacon, and obtain the position information of the track corresponding to the near field communication tag;

The proximity sensor is used to generate a trigger signal in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The processor is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.

In some exemplary embodiments of the present invention, an encoder is further provided on the inspection robot,

The encoder is used to record the position information of the inspection robot between the two beacons.

In some example embodiments of the present invention, the near-field communication reader is a radio frequency identification RFID reader, and the near-field communication tag is an RFID tag.

In some exemplary embodiments of the present invention, the proximity sensor is a magnetic sensor, and the inspection robot is a rail-mounted pipe gallery inspection robot.

In a fourth aspect of the embodiments of the present invention, a beacon is provided. The beacon is provided with a short-range communication tag and a proximity sensor trigger switch. The beacon is used in conjunction with an inspection robot, and the inspection robot is A short-range communication reader, a proximity sensor, and a processor are provided, and the inspection robot is used to inspect a track on which a plurality of the beacons are arranged in advance,

In a fifth aspect of the embodiments of the present invention, there is provided a patrol inspection system, including the patrol robot as described in the third aspect and the beacon as described in the fourth aspect.

In a sixth aspect of the embodiments of the present invention, there is provided an electronic device applied to a patrol robot, the patrol robot is provided with a radio frequency identification short-range communication reader, a proximity sensor, and a processor, and the patrol robot It is used for patrolling a track with multiple beacons arranged in advance, the beacons are provided with a short-range communication tag and a proximity sensor trigger switch, the electronic device includes: a memory, a processor; wherein,

The memory is used to store the processor executable instructions;

The processor is configured to implement the positioning method as described in the first aspect.

A seventh aspect of the embodiments of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used when executed by the inspection robot according to the third aspect. To realize the positioning method as described in the first aspect.

In an eighth aspect of the embodiments of the present invention, a computer program is provided, which is used to implement the positioning method as described in the first aspect when the computer program is executed by the inspection robot as in the third aspect.

In the ninth aspect of the embodiments of the present invention, a program product is provided, including a computer program, when the program product runs on the inspection robot of the third aspect, it is used to realize the positioning as described in the first aspect. method.

According to the positioning method, device, inspection robot, equipment and storage medium provided by the embodiments of the present invention, on the one hand, the position information of the track corresponding to the beacon can be obtained through the short-range communication sensor, and the accurate position information corresponding to the beacon can be obtained; On the one hand, when the inspection robot passes the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information. The position information updates the position of the inspection robot, so that the inspection robot can be positioned with high precision and low cost.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments consistent with the disclosure, and are used together with the specification to explain the principle of the disclosure.

FIG. 1 is a schematic block diagram of an application scenario of a positioning method according to some embodiments of the present invention;

2 is a schematic flowchart of a positioning method provided by some embodiments of the present invention;

3a and 3b are schematic diagrams of positioning methods provided by other embodiments of the present invention;

4a and 4b are schematic diagrams of correcting the position of the inspection robot provided by some embodiments of the present invention;

5a, 5b, and 5c are schematic diagrams of correcting the position of the inspection robot provided by other embodiments of the present invention;

6 is a schematic block diagram of Embodiment 1 of a positioning device provided by the present invention;

FIG. 7 is a schematic block diagram of Embodiment 2 of a positioning device provided by the present invention;

8 is a schematic block diagram of Embodiment 3 of the positioning device provided by the present invention;

Figure 9 is a schematic block diagram of an inspection robot provided by some embodiments of the present invention;

FIG. 10 is a schematic block diagram of an electronic device provided by some embodiments of the present invention.

Through the above drawings, the specific embodiments of the present disclosure have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to explain the concept of the present disclosure to those skilled in the art by referring to specific embodiments.

Detailed ways

Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

First, explain the terms involved in the present invention:

Radio Frequency Identification (RFID) sensor: used to identify the short-range communication tag and obtain the identification information of the short-range communication tag.

Beacon: A device arranged along the track for sending information to the inspection robot, for example, sending the RFID identification information and/or the trigger signal of the proximity sensor to the inspection robot.

Magnetic proximity sensor: used to generate input/output I/O signals by triggering a switch such as a magnetic conductor.

Magnetic proximity sensor trigger switch: used to trigger the magnetic proximity sensor to generate I/O signals, which can be a magnetic conductor such as iron;

Encoder: It is a widely used position sensor that can detect subtle movements and its output is a digital signal. The most widely used encoder is the photoelectric encoder, which can be used for angle measurement, position measurement, and rotation speed measurement.

At present, in order to locate the inspection robot in the inspection of the pipe gallery, an encoder is used to record the travel distance of the inspection robot during the orbit operation. However, because the inspection robot is running in the orbit, the running record recorded by the encoder may be inconsistent with the actual orbital coordinates due to slippage and other reasons.

Based on the above content, the basic idea of the present invention is to combine short-range communication sensors such as RFID sensors and proximity sensors to locate the inspection robot. The inspection robot is provided with a near-field communication reader and a proximity sensor, and the inspection robot is used for The track with multiple beacons arranged in advance is inspected. The beacon is equipped with a short-range communication tag and a proximity sensor trigger switch. The position information of the track corresponding to the beacon is obtained through the short-range communication sensor, and the inspection robot passes through the beacon. When marking time, in response to the trigger signal of the proximity sensor, the position information of the inspection robot on the track is updated according to the position information. According to the technical solution of the embodiment of the present invention, on the one hand, the position information of the track corresponding to the beacon can be obtained through the near field communication reader, and the accurate position information corresponding to the beacon can be obtained; on the other hand, when the inspection robot passes through the In the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information. When the inspection robot passes by the beacon, the position of the inspection robot can be updated according to the position information corresponding to the beacon. Therefore, the inspection robot can be positioned with high precision and low cost.

Fig. 1 is a schematic block diagram of an application scenario of a positioning method according to some embodiments of the present invention. 1, the application scenario includes a patrol robot 110 and a track 130 pre-arranged with a plurality of beacons 120. The patrol robot 110 is provided with a short-range communication reader and a proximity sensor. The patrol robot is used The track 130 is patrolled, and the beacon 120 is provided with a short-range communication tag and a proximity sensor trigger switch. Among them, the near field communication reader is used to read the near field communication tag on the beacon 120, and obtain the position information of the track corresponding to the near field communication tag; the proximity sensor is used to respond when the inspection robot 110 approaches the beacon 120 The proximity sensor triggers the triggering of the switch to generate a trigger signal. The patrol robot 120 is also provided with a processor, which is used to respond to the trigger signal generated by the proximity sensor and update the position coordinates of the patrol robot on the track through the acquired position information corresponding to the short-range communication tag.

It should be noted that the proximity sensor may be a magnetic proximity sensor, or other appropriate magnetic proximity sensors such as photoelectric proximity sensors, laser proximity sensors, capacitive proximity sensors, etc., which are also within the protection scope of the present invention. The near field communication reader may be an RFID reader, the near field communication tag may be an RFID tag, and the near field communication reader may also be another appropriate form of reader such as Near Field Communication (NFC) reader The pick-up device, the near field communication tag is an NFC tag, which is not particularly limited in the present invention.

The positioning method according to the exemplary embodiment of the present invention will be described below with reference to the accompanying drawings in conjunction with the application scenario of FIG. 1. It should be noted that the above application scenarios are only shown to facilitate the understanding of the spirit and principle of the present invention, and the embodiments of the present invention are not limited in this respect. On the contrary, the embodiments of the present invention can be applied to any applicable scenarios.

Fig. 2 is a schematic flowchart of a positioning method according to some embodiments of the present invention. The positioning method can be applied to a patrol robot. The patrol robot is provided with a short-range communication reader and a proximity sensor. The patrol robot is used to patrol a track with multiple beacons arranged in advance. It is equipped with a short-range communication tag and a proximity sensor trigger switch. The positioning method in the exemplary embodiment will be described in detail below with reference to the accompanying drawings.

Referring to FIG. 2, in step S210, the near field communication tag on the beacon of the track is read by the near field communication reader on the inspection robot, and the position information of the track corresponding to the near field communication tag is obtained.

In an exemplary embodiment, when the inspection robot is traveling on the track within the recognition range of the near field communication tag of the beacon, the near field communication tag is read by the near field communication reader on the inspection robot to obtain the near field communication tag. The position information of the track corresponding to the distance communication tag. For example, the short-range communication reader can be an RFID reader, and the short-range communication tag can be an RFID tag. The identification information of the RFID tag can be read by the RFID reader, and the identification information can be obtained from the data table of the database according to the identification information. The position information of the corresponding track, where the data table includes the identification information of the RFID tag and the position information of the corresponding track.

In addition, in some embodiments, the location information of the corresponding track may also be stored in advance in the near field communication tag. When the inspection robot runs on the track to the identification range of the near field communication tag of the beacon, pass the inspection robot The short-range communication reader on the device obtains the position information of the corresponding track from the short-range communication tag.

In step S220, when the inspection robot passes the beacon, in response to the triggering of the proximity sensor trigger switch on the beacon, a trigger signal is generated by the proximity sensor.

In an exemplary embodiment, if the inspection robot travels to the trigger position corresponding to the proximity sensor trigger switch, the trigger signal is generated by the proximity sensor in response to the trigger of the proximity sensor trigger switch. For example, if the proximity sensor is a magnetic proximity sensor, the proximity sensor trigger switch can be a magnetic conductor such as iron provided on the beacon. If the inspection robot travels to the trigger position corresponding to the magnetic conductor, the trigger position is that the magnetic conductor can trigger The position where the proximity sensor generates the trigger signal, and the proximity sensor is triggered to generate the trigger signal.

In step S230, in response to the trigger signal, the position of the inspection robot on the track is updated based on the position information of the track corresponding to the short-range communication tag.

In an exemplary embodiment, the processor provided on the patrol robot updates the position of the patrol robot on the track through the position information of the track corresponding to the short-range communication tag in response to the trigger signal generated by the proximity sensor. For example, in response to the trigger signal generated by the proximity sensor, the processor executes the main control program to update the position of the inspection robot to the position of the track corresponding to the short-range communication tag.

According to the technical solution in the exemplary embodiment of FIG. 2, on the one hand, the position information of the track corresponding to the beacon can be obtained through the short-range communication sensor, and the accurate position information corresponding to the beacon can be obtained; on the other hand, when the inspection robot passes by When the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information, and the position of the inspection robot can be updated according to the position information corresponding to the beacon when the inspection robot passes by the beacon Therefore, the inspection robot can be positioned with high precision and low cost.

Further, in an exemplary embodiment, an encoder is further provided on the inspection robot, and the positioning method further includes: recording the position information of the inspection robot between the two beacons through the encoder. The encoder records the position information of the inspection robot between the two beacons, which can accurately and cost-effectively determine the position of the inspection robot between the two beacons on the track.

3a and 3b are schematic diagrams of positioning methods provided by other embodiments of the present invention.

Referring to Figure 3a, the beacons are arranged along the track, and the absolute position information contained in the beacon is consistent with the actual absolute position information of the track. The rectangular block filled with the left and right slashes of the beacon 1 represents the recognizable range of the short-range communication tag. The position of the inspection robot between the two beacons is recorded by the encoder. As shown in Figure 3a, when the inspection robot, such as the rail-mounted robot, travels from the starting position to the rectangular block corresponding to beacon 1, the inspection robot can read The track position information in the short-range communication tag of beacon 1 is the absolute track position information. At this time, the inspection robot knows that it has traveled within the recognition range of beacon 1. Since the recognition range of the short-range communication tag can reach several meters, Unable to know the exact location.

In an exemplary embodiment, when the inspection robot travels on the track within the recognition range of the near field communication tag of the beacon 1, the near field communication reader on the inspection robot reads the near field communication tag to obtain Position information of the track corresponding to the short-range communication tag. For example, the identification information of the short-range communication tag can be read by a short-range communication reader, and the position information of the corresponding track can be obtained from the data table of the database according to the identification information, wherein the data table includes the identification information of the RFID and The position information of the corresponding track.

Further, as shown in Figure 3b, when the inspection robot reads the track position information corresponding to the NFC tag, it continues to drive forward, and the main control program of the inspection robot starts to wait for the trigger signal of the proximity sensor, such as the magnetic proximity sensor. When the inspection robot travels to the trigger position of the proximity sensor, in response to the proximity sensor trigger switch, a trigger signal is generated by the proximity sensor. The absolute position point of the track corresponding to the accurately recorded distance from the communication tag. For example, if the proximity sensor is a magnetic proximity sensor, the proximity sensor trigger switch can be a magnetic conductor such as iron provided on the beacon. If the inspection robot travels to the trigger position corresponding to the magnetic conductor, the trigger position is that the magnetic conductor can trigger The position where the proximity sensor generates the trigger signal, and the proximity sensor is triggered to generate the trigger signal.

It should be noted that the proximity sensor may be a magnetic proximity sensor, or other appropriate magnetic proximity sensors such as photoelectric proximity sensors, laser proximity sensors, capacitive proximity sensors, etc., which are also within the protection scope of the present invention.

At this time, the main control program of the patrol robot responds to the trigger signal to update its own absolute coordinates according to the read track position information, so as to realize the precise positioning of the patrol robot. In the same way, the inspection robot can also achieve position calibration when running from the end point to the start point.

According to the technical solution in the exemplary embodiment of FIG. 3, on the one hand, the position information of the track corresponding to the beacon can be obtained through the short-range communication sensor, and the accurate position information corresponding to the beacon can be obtained; on the other hand, when the inspection robot passes by When the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information, and the position of the inspection robot can be updated according to the position information corresponding to the beacon when the inspection robot passes by the beacon Therefore, the inspection robot can be positioned with high precision and low cost.

In addition, when the inspection robot is powered on or restarted, the position information of the inspection robot may be lost, resulting in the inability to complete the inspection task. Therefore, it is necessary to correct the position of the patrol robot when the patrol robot is powered on or restarted. The position correction of the patrol robot in the exemplary embodiment of the present invention will be described in detail below with reference to FIGS. 4 and 5.

4a and 4b are schematic diagrams of correcting the position of the inspection robot provided by some embodiments of the present invention.

Referring to Fig. 4a, as shown in Fig. 4a, if the patrol robot is not within the recognition range of the NFC tag after being started or restarted, the patrol robot is driven to travel to the starting point. As shown in Figure 4b, when the inspection robot passes by beacon 1, the position information of the track corresponding to the short-range communication tag on the beacon 1 is obtained, and in response to the trigger signal of the proximity sensor, the inspection robot is corrected according to the position information. After the absolute coordinates of the track, you can stop the movement and wait for other tasks to be performed.

Specifically, when the inspection robot travels from the starting position to the rectangular block corresponding to beacon 1, the inspection robot can read the track position information in the near field communication tag of the beacon 1, that is, the track absolute position information. When the inspection robot reads the track position information corresponding to the proximity communication tag, it continues to move forward. When the inspection robot travels to the trigger position of the proximity sensor, in response to the proximity sensor trigger switch, the proximity sensor generates a trigger signal . Further, in response to the trigger signal, the absolute coordinates of itself are updated according to the read track position information, so as to realize the precise positioning of the inspection robot.

According to the technical solution in the exemplary embodiment of FIG. 4, the position of the patrol robot can be accurately determined after the patrol robot is started or restarted, and the problem of position information loss of the patrol robot after the start or restart is avoided.

5a, 5b, and 5c are schematic diagrams of correcting the position of the inspection robot provided by other embodiments of the present invention.

As shown in Figure 5a, if the patrol robot is within the recognition range of the NFC tag after it is started, the patrol robot first moves in the direction of the end point until it moves to a position where the NFC tag fails to recognize the movement and stops. As shown in Figure 5b, the inspection robot then moves to the starting point. When the inspection robot passes beacon 1, the position information of the track corresponding to the short-range communication tag on beacon 1 is obtained, and the inspection robot detects the magnetic field. The proximity sensor trigger switch, that is, when traveling to the trigger position of the magnetic proximity sensor, in response to the trigger signal of the proximity sensor, the track absolute coordinates of the inspection robot are corrected according to the position information, and the track absolute position correction is completed and the stop is shown in Figure 5c.

According to the technical solution in the exemplary embodiment of FIG. 5, the position of the patrol robot can be accurately determined after the patrol robot is started or restarted, and the problem of position information loss of the patrol robot after the start or restart is avoided.

FIG. 6 is a schematic block diagram of Embodiment 1 of a positioning device provided by the present invention. Referring to FIG. 6, the positioning device 600 is applied to a patrol robot. The patrol robot is provided with a radio frequency identification short-range communication reader and a proximity sensor. The track of the target is inspected. The beacon is provided with a short-range communication tag and a proximity sensor trigger switch. As shown in FIG. 8, the positioning device 600 includes:

The position information acquisition module 610 is configured to read the near field communication tag on the beacon through the near field communication reader on the inspection robot, and obtain the corresponding Position information of the track;

The trigger signal generating module 620 is configured to generate a trigger signal through the proximity sensor in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The position update module 630 is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.

According to the technical solution in the exemplary embodiment of FIG. 6, on the one hand, the position information of the track corresponding to the beacon can be obtained through the RFID sensor, and the accurate position information corresponding to the beacon can be obtained; on the other hand, when the inspection robot passes the signal During the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information. When the inspection robot passes the beacon, the position of the inspection robot can be updated according to the position information corresponding to the beacon, thereby It can locate the inspection robot with high precision and low cost.

In some embodiments of the present invention, the location information acquiring module 610 is specifically further configured to:

Acquiring identification information of the near field communication tag;

Obtain corresponding position information of the track from a data table according to the identification information, wherein the data table includes the identification information of the RFID and the corresponding position information of the track.

In some embodiments of the present invention, the trigger signal generating module 620 is specifically further configured to:

FIG. 7 is a schematic block diagram of Embodiment 2 of a positioning device provided by the present invention. Referring to FIG. 7, in some embodiments of the present invention, the device 600 further includes:

The range determination module 710 is configured to determine whether the inspection robot is within the recognition range of the near field communication tag of the beacon when the inspection robot is started or restarted;

The first travel module 720 is configured to drive the inspection robot to travel toward the starting point if it is not within the recognition range of the near field communication tag;

The first position correction module 730 is configured to correct the position of the inspection robot on the track in response to the trigger signal when passing the beacon during driving.

In some embodiments of the present invention, the device 600 further includes:

FIG. 8 is a schematic block diagram of Embodiment 3 of the positioning device provided by the present invention. Referring to FIG. 8, in some embodiments of the present invention, an encoder is further provided on the inspection robot, and the device 600 further includes:

The recording module 810 is configured to record the position information of the inspection robot between the two beacons through the encoder.

In some embodiments of the present invention, the proximity sensor is a magnetic sensor, and the inspection robot is a rail-mounted pipe gallery inspection robot.

The positioning device provided in the embodiment of the present invention can implement the various processes in the foregoing method embodiments and achieve the same functions and effects, which will not be repeated here.

Fig. 9 is a schematic block diagram of an inspection robot provided by some embodiments of the present invention. Referring to FIG. 9, the inspection robot 900 is provided with a radio frequency identification short-range communication reader 910, a proximity sensor 920, and a processor 930. The inspection robot is used to perform an inspection on a track with a plurality of beacons arranged in advance. For patrol inspection, the beacon is provided with a short-range communication tag and a proximity sensor trigger switch, where:

The near field communication reader 910 is configured to read the near field communication tag on the beacon, and obtain the position information of the track corresponding to the near field communication tag;

The proximity sensor 920 is configured to generate a trigger signal in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The processor 930 is configured to update the position of the inspection robot on the track according to the position information in response to the trigger signal.

According to the technical solution in the exemplary embodiment of FIG. 9, on the one hand, the position information of the track corresponding to the beacon can be obtained through the RFID sensor, and the accurate position information corresponding to the beacon can be obtained; on the other hand, when the inspection robot passes the letter During the beacon, in response to the trigger signal of the proximity sensor, the position of the inspection robot on the track is updated according to the position information. When the inspection robot passes the beacon, the position of the inspection robot can be updated according to the position information corresponding to the beacon, thereby It can locate the inspection robot with high precision and low cost.

In some exemplary embodiments of the present invention, an encoder is further provided on the inspection robot 900,

In addition, in other embodiments of the present invention, a beacon is provided, the beacon is provided with a short-range communication tag and a proximity sensor trigger switch, the beacon is used in conjunction with the inspection robot, and the patrol The inspection robot is provided with a short-range communication reader, a proximity sensor, and a processor, and the inspection robot is used to inspect a track on which a plurality of the beacons are arranged in advance,

Further, in still other embodiments of the invention, a patrol inspection system is provided, which includes the patrol robot as described above, and the beacon as described above.

In addition, an embodiment of the present application also provides an electronic device, which is applied to a patrol robot. The patrol robot is provided with a radio frequency identification near field communication reader, a proximity sensor, and a processor. The patrol robot is used for Perform a patrol inspection on a track pre-arranged with multiple beacons. The beacons are provided with a short-range communication tag and a proximity sensor trigger switch. The electronic device is used to execute the positioning method described in the foregoing embodiment. FIG. 10 is a schematic block diagram of an electronic device provided by some embodiments of the present invention. As shown in FIG. 10, the electronic device 1000 includes: at least one processor 1002, a memory 1004, a bus 1006, and a communication interface 1008.

Among them: the processor 1002, the communication interface 1008, and the memory 1004 communicate with each other through the communication bus 1006.

The communication interface 1008 is used to communicate with other devices.

The processor 1002 is configured to execute a program 1010, and specifically can execute relevant steps in the method described in the foregoing embodiment. For example, the processor 1002 may perform the following steps: read the near field communication tag on the beacon of the track through the near field communication reader on the inspection robot, and obtain the position information of the track corresponding to the near field communication tag; When the robot passes the beacon, in response to the proximity sensor trigger switch on the beacon, a trigger signal is generated by the proximity sensor; in response to the trigger signal, the position information of the track corresponding to the proximity communication tag is updated to update the inspection robot on the track s position.

Specifically, the program 1010 may include program code, and the program code includes computer operation instructions.

The processor 1002 may be a central processing unit, or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

The memory 1004 is used to store the program 1010. The memory 1004 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 804 including instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method. For example, the non-transitory computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM), a random access memory, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

This embodiment also provides a computer program, when the computer program is executed by the above-mentioned electronic device, it is used to implement the above-mentioned positioning method.

This embodiment also provides a program product, including a computer program, when the computer program runs on the above-mentioned electronic device, it is used to implement the above-mentioned positioning method.

Those skilled in the art will easily think of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field that are not disclosed in the present disclosure. . The description and the embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

A positioning method, characterized in that it is applied to a patrol robot, the patrol robot is provided with a short-range communication reader and a proximity sensor, and the patrol robot is used to perform an inspection on a track with multiple beacons arranged in advance. In patrol inspection, the beacon is provided with a short-range communication tag and a proximity sensor trigger switch, and the method includes:

Reading the near field communication tag on the beacon by the near field communication reader on the patrol robot, and acquiring the position information of the track corresponding to the near field communication tag;

When the inspection robot passes the beacon, in response to the triggering of the proximity sensor trigger switch, a trigger signal is generated by the proximity sensor;

In response to the trigger signal, the position of the inspection robot on the track is updated through the position information.
The method according to claim 1, wherein said acquiring the position information of the track corresponding to the short-range communication tag comprises:

Acquiring identification information of the near field communication tag;

Obtain corresponding location information of the track from a data table according to the identification information, where the data table includes identification information of the short-range communication tag and corresponding location information of the track.
The method according to claim 1 or 2, wherein the acquiring position information of the track corresponding to the short-range communication tag comprises:

Acquiring the corresponding position information of the track pre-stored by the short-range communication tag.
The method according to any one of claims 1 to 3, wherein when the inspection robot passes the beacon, in response to the triggering of the proximity sensor trigger switch, the proximity sensor generates Trigger signals, including:

If the inspection robot travels to the trigger position corresponding to the proximity sensor trigger switch, in response to the trigger of the proximity sensor trigger switch, the trigger signal is generated by the proximity sensor.
The method according to any one of claims 1-4, wherein the method further comprises:

When the inspection robot is started or restarted, determining whether the inspection robot is within the recognition range of the near field communication tag of the beacon;

If it is not within the recognition range of the near field communication tag, drive the inspection robot to drive toward the starting point;

When passing the beacon during driving, in response to the trigger signal, correct the position of the inspection robot on the track according to the position information.
The method according to claim 5, wherein the method further comprises:

If it is in the recognition range of the near field communication tag, drive the inspection robot to move toward the end point first, until the inspection robot drives out of the recognition range of the near field communication tag;

The inspection robot is driven to travel toward the starting point, and when passing the beacon during driving, in response to the trigger signal, the position of the inspection robot on the track is corrected according to the position information.
A positioning device, which is characterized in that it is applied to a patrol robot, the patrol robot is provided with a short-range communication reader and a proximity sensor, and the patrol robot is used to perform a track on a track with multiple beacons arranged in advance. For patrol inspection, the beacon is provided with a short-range communication tag and a proximity sensor trigger switch, and the device includes:

The position information acquisition module is configured to read the near field communication tag on the beacon through the near field communication reader on the inspection robot, and obtain the track corresponding to the near field communication tag Location information;

A trigger signal generating module, configured to generate a trigger signal through the proximity sensor in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The position update module is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.
An inspection robot, wherein the inspection robot is provided with a short-range communication reader, a proximity sensor, and a processor, and the inspection robot is used to inspect a track on which a plurality of beacons are arranged in advance , The beacon is provided with a short-range communication tag and a proximity sensor trigger switch, wherein:

The near field communication reader is used to read the near field communication tag on the beacon, and obtain the position information of the track corresponding to the near field communication tag;

The proximity sensor is used to generate a trigger signal in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The processor is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.
The inspection robot according to claim 8, wherein an encoder is further provided on the inspection robot,

The encoder is used to record the position information of the inspection robot between the two beacons.
The inspection robot according to claim 8 or 9, wherein the short-range communication reader is a radio frequency identification RFID code reader, and the short-range communication tag is an RFID tag.
The inspection robot according to claim 10, wherein the proximity sensor is a magnetic sensor, and the inspection robot is a rail-mounted pipe gallery inspection robot.
A beacon, characterized in that a near-field communication tag and a proximity sensor trigger switch are provided on the beacon, the beacon is used in conjunction with an inspection robot, and the near-field communication reading device is provided on the inspection robot. A sensor, a proximity sensor and a processor, the inspection robot is used to inspect a track on which a plurality of the beacons are arranged in advance,

The near field communication reader is used to read the near field communication tag on the beacon, and obtain the position information of the track corresponding to the near field communication tag;

The proximity sensor is used to generate a trigger signal in response to the triggering of the proximity sensor trigger switch when the inspection robot passes the beacon;

The processor is configured to update the position of the inspection robot on the track through the position information in response to the trigger signal.
An inspection system, characterized by comprising the inspection robot according to any one of claims 8-11, and the beacon according to claim 12.
An electronic device, characterized in that it is applied to a patrol robot, the patrol robot is provided with a short-range communication reader, a proximity sensor, and a processor, and the patrol robot is used to detect a plurality of signals arranged in advance. The track of the target is inspected, the beacon is provided with a short-range communication tag and a proximity sensor trigger switch, and the electronic device includes: a memory and a processor;

The memory is used to store the processor executable instructions;

The processor is configured to implement the positioning method according to any one of claims 1 to 6.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by the electronic device according to claim 14, they are used to implement 6. The positioning method described in any one of them.
A computer program, characterized in that, when the computer program is executed by the electronic device according to claim 14, it is used to implement the positioning method according to any one of claims 1 to 6.
A program product, characterized by comprising a computer program, which is used to implement the positioning method according to any one of claims 1 to 6 when the program product runs on the electronic device according to claim 14.