Track type inspection robot navigation positioning module and coarse and fine composite positioning method

Abstract

The invention discloses a track type inspection robot navigation positioning module and a coarse and fine composite positioning method, the track type inspection robot navigation positioning module comprises a sensor module, an integrated navigation resolving module and a power supply module, the sensor module and the integrated navigation resolving module are arranged in a robot body, and the robot body is controlled by a control center to advance in a pipe gallery track. Information of positioning holes in a pipe gallery track is obtained through the sensor module, resolving is conducted through the integrated navigation resolving module, and the position of the robot body in a pipe gallery is determined through the control center. According to the invention, extra base stations and wireless equipment are not needed, only equal-interval or unequal-interval punching needs to be carried out on the track, and corresponding photoelectric sensors and MEMS inertial sensors are installed onthe robot, so that the use and maintenance cost is reduced; motion state monitoring, track deformation and pipe gallery settlement data of the robot can be obtained; and more data monitoring can be carried out on track and pipe gallery environment changes.

Description

Technical field[0001]The present invention belongs to the field of navigation positioning, and involves a method of combining navigation using a photoelectric label, a MEMS inertial sensor.Background technique[0002]During the operation of the robot in my country, the exact positioning of the robot is one of the core content, and the excellent positioning scheme can effectively improve the inspection efficiency and accuracy.[0003]Conventional track robot inspection, mainly relying on the milemeter to perform relative position, because the mileper will generate a cumulative error, but also the external auxiliary wireless tag for absolute position calibration. Common calibration methods have a UWB wireless positioning mode and RFID tag positioning mode, where UWB positioning accuracy is about 0.1m, requiring the wireless base station within the gallery to have UWB positioning function, RFID passive tag positioning accuracy is high, but reaches 0.02m, but You need to arrange an RFID tag...

AI Technical Summary

Problems solved by technology

[0004] Traditional pipe gallery inspection robots need to rely on the above-mentioned base stations or a large number of RFID tags for auxiliary positioning when walking, which increases the cost of use and maintenance. On the other hand, traditional pipe gallery inspection robots also lack their own mechanical motion state and track tilt settlement observation data, so intelligent fault diagnosis technology is also the future development direction of the pipeline inspection robot

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