Rail type inspection robot locating and position calibration system and method

Abstract

The invention discloses a rail type inspection robot locating and position calibration method and system. The rail type inspection robot locating and position calibration method comprises the steps that before an inspection robot works formally, and coordinate information of a plurality of blocking pieces arranged on a rail at intervals is detected to serve as rail data to be recorded into a localdatabase of the inspection robot; during inspection of the inspection robot, inspection locating is conducted on the position of the inspection robot in real time, and locating is calibrated according to the rail data; and when locating of the inspection robot fails, inspection locating is conducted on the position of the inspection robot again. According to the rail type inspection robot locating and position calibration method and system, when the inspection robot is located unsuccessfully and travels again, the N blocking pieces are scanned, whether displacement differences corresponding to the N blocking pieces and coordinate differences of N adjacent blocking pieces in the local database are equal correspondingly is judged comparatively, when only one coordinate difference is equal to the corresponding displacement difference, the coordinate information of the last blocking piece in the N blocking pieces corresponding to the coordinate difference serves as the current coordinateinformation of the inspection robot, and thus autonomous locating is achieved again.

Description

technical field [0001] The invention relates to the technical field of inspection robots, in particular to a positioning and position calibration system and method for a rail-type inspection robot. Background technique [0002] Rail-mounted inspection robots are widely used in harsh industrial sites such as tunnels, pipe galleries, and substations to collect on-site environmental data. In these application scenarios, the track inspection robot usually needs to perform the following actions: go to the pre-set inspection location to collect data; when encountering abnormal environmental data during operation, it needs to report the abnormal data and the specific location where the abnormal data is generated, so , the accuracy and reliability of the track inspection robot positioning system are crucial to the reliable operation of the entire system. [0003] The existing positioning methods of track inspection robots mainly include: GPS positioning, incremental encoder rangi...

AI Technical Summary

Problems solved by technology

[0004] Single method positioning is easily disturbed by environmental factors, such as GPS positioning is not suitable for indoor work, infrared positioning and laser ranging positioning are easily affected by infrared light, gray layers, etc., RFID positioning accuracy is low, and incremental encoder ranging positioning is easily affected by patrolling. Influenced by the wheel slipping and wear of the inspection robot, the contact sensor positioning has high requirements for the motion control of the inspection robot; however, the existing methods for comprehensive positioning rely on a large number of sensors, and the inspection points need to be set in advance Or positioning points, the installation requirements for auxiliary positioning tools (such as baffles, lug seats, etc.) are high, which increases the cost, and it is impossible to re-position autonomously after the power failure of the inspection robot, so it is necessary to find a tool that can The solution to such problems

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