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Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot

An inspection robot and sensor module technology, applied in the field of navigation and positioning, can solve problems such as lack of system, positioning system cannot work normally, redundancy, etc., to improve positioning accuracy, improve fault tolerance and reliability, and save system space and cost. Effect

Pending Publication Date: 2021-04-09
西咸新区鸿通管廊投资有限公司
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Problems solved by technology

[0004] The problem with a single positioning method is that when the positioning sensor module (such as a card reader) fails, the entire positioning system cannot work normally, and there is a lack of system redundancy measures

Method used

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  • Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot
  • Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot
  • Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot

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Embodiment Construction

[0047] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, where the schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0048] Such as figure 1As shown, the multi-sensor auxiliary positioning module of the rail-type inspection robot of the present invention includes: a positioning identification module, including a character nameplate and a track patch, and the character nameplate is vertically installed on the top of the pipe gallery for identification and positioning of the sensor module. The track patch includes a positioning code and a magnetic sheet, which is used for the sensor module to identify the positioning code and the magnetic sheet.

[0049] Sensor module, multiple sensors of the sensor module, including magnetic sensor, visual code scanning sensor, visual character positioning sensor and odo...

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Abstract

The present invention discloses a multi-sensor auxiliary positioning module and method for rail-mounted inspection robot. The multi-sensor auxiliary positioning module comprises a sensor module, a positioning resolving module and a power supply module which are arranged in a robot body, and further comprises a positioning identification module arranged in a pipe gallery, and the robot body is controlled by a control center to advance in a pipe gallery track. The plurality of sensors identify character nameplates and track patches in the pipe gallery track, and transmit the acquired information to the positioning resolving module; and the positioning resolving module resolves the information obtained by the sensor module and transmits the information to the control center, and the control center determines the position of the robot body in the pipe gallery. According to the invention, the composite positioning of the rail-mounted inspection robot can be realized, and the fault-tolerant capability and reliability of the system are improved.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a method for fusion positioning and navigation using a magnetic sensor module, a visual code scanning sensor module and visual character positioning. Background technique [0002] In the operation process of inspection robots in pipe corridors in my country, the precise positioning of robots is always one of the core contents. An excellent positioning scheme can effectively improve the efficiency and accuracy of inspections. [0003] Conventional orbital robot inspections mainly rely on the odometer for relative position positioning. Since the odometer will generate cumulative errors, it is also necessary to rely on external auxiliary wireless tags for absolute position calibration. Common calibration methods include UWB wireless positioning method and RFID tag positioning method. Among them, UWB positioning accuracy is about 0.1m, and the wireless base station i...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0253G05D1/0261G05D1/0223G05D1/0276
Inventor 胡鹏博程力曹庆鹏林俤雷磊刘晴黄哲陈浩何卿于琪
Owner 西咸新区鸿通管廊投资有限公司
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