A petrochemical factory inspection robot positioning system and method

Abstract

The invention discloses a system and a method for locating an inspection robot in a petrochemical plant. The system comprises a global positioning system (GPS) observation unit, an ultra-wide bandwidth (UWB) observation unit, a visual observation unit, a laser observation unit, a mileage observation unit, a combination decision module, an inertial state estimation module, an available positioningobservation / strapdown inertial navigation system (SINS) combination module, and a positioning information fusion module. The GPS observation unit, the UWB observation unit, the visual observation unit, the laser observation unit and the mileage observation unit acquire the respective observation data and send same to the combination decision module; the combination decision module performs multi-layer map-based positioning by combining an environmental map model stored in an environmental model prior information module so as to determine available observation types; the available positioning observation / SINS combination module combines available observation data with a corresponding motion equation established by an inertial state estimation module, and the combined result is sent to the positioning information fusion module for carrying out final integrated pose estimation. The system and the method solve the problem of seamless positioning of the inspection robot which runs in various complicated regions of the petrochemical plant, and guarantee the continuity of a positioning process and the stability of the positioning result.

Description

technical field [0001] The invention belongs to the field of positioning of special robots, and in particular relates to a positioning system and method for an inspection robot of a petrochemical plant. Background technique [0002] The working area of ​​petrochemical enterprises, oil depots, storage and transportation companies and other factories is large and the environment is complex, so it is difficult to troubleshoot potential safety hazards. At present, it is only possible to manually conduct on-site inspections of instruments and meters in various workplaces such as tank farms, pump farms, and substations. Petrochemical plants need a variety of inspections, usually including various workplaces such as oil pipelines, the bottom of oil storage tanks, pump stations, metering rooms, flow rooms, and fire prevention passages, and safety inspections of various valves, instruments, and equipment. These contents to be inspected exist indoors and outdoors, structured and unst...

AI Technical Summary

Problems solved by technology

[0012] In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a petrochemical plant inspection robot positioning system and method, supplementary research on the seamless positioning problem of the inspection robot when it is running in various complex areas of the petrochemical plant, and ensure the positioning process continuity and stability of positioning results

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