Wheel robot control method and device based on point position verification and electronic equipment

Abstract

The application provides a wheel robot control method and device based on a check point and electronic equipment, the method comprising: setting a check point in a preset inspection path of a wheel robot; wherein the check point is provided with a beacon, and the beacon stores a standard position of the check point; after the wheel robot completes an inspection task, the robot is controlled to drive to the check point and read the standard position stored by the beacon; a positioning position of the wheel robot at the check point is obtained, and a position deviation between the positioning position and the standard position is determined; if the position deviation is within a preset deviation range, the wheel robot is controlled to drive from the check point to a charging point for charging. This way provides an absolute position reference independent of a dead reckoning system for the wheel robot by setting the check point provided with the beacon in the preset inspection path, ensures the safety of the robot and the charging equipment, ensures the reliable execution of the charging process, and improves the overall stability and efficiency of the inspection task of the wheel robot.

Description

Technical Field

[0001] This invention relates to the field of mobile wheeled robots, and in particular to a wheeled robot control method, apparatus, and electronic device based on point-to-point verification. Background Technology

[0002] In hazardous environments such as petrochemical and chemical industries, wheeled inspection robots have been widely used for routine inspections and autonomous charging, becoming an important tool for improving work efficiency and reducing human risks. The workflow of these wheeled robots typically revolves around a pre-set path, requiring them to complete tasks such as data collection at work points, and then autonomously return to a charging point for recharging after completing their tasks.

[0003] However, the positioning accuracy of wheeled robots still faces challenges. When wheeled robots travel in complex ground environments, the drive wheels are prone to slippage due to factors such as oil, wetness, and unevenness. In addition, the inherent characteristics of wheeled robots, such as their own weight and tire deformation, make the dead reckoning system they rely on prone to cumulative errors, resulting in positioning deviations. These positioning deviations may cause collision risks when the robot approaches the charging point, or even damage the robot or charging equipment, affecting the efficiency and continuity of the overall inspection work. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a wheeled robot control method, device and electronic device based on point verification, so as to ensure that the position deviation of the wheeled robot is within a safe range when approaching the charging point and to ensure the smoothness of the charging process.

[0005] In a first aspect, embodiments of the present invention provide a wheeled robot control method based on point-of-care verification. The method includes: setting verification points in a preset inspection path of the wheeled robot; wherein, beacons are deployed at the verification points, and the beacons store the standard positions of the verification points; after the wheeled robot completes its inspection work, controlling the wheeled robot to drive to the verification point and read the standard positions stored by the beacons; obtaining the positioning position of the wheeled robot at the verification point and determining the positional deviation between the positioning position and the standard position; if the positional deviation is within a preset deviation range, controlling the wheeled robot to drive from the verification point to a charging point for charging.

[0006] Secondly, the present invention provides a wheeled robot control device based on point-of-care verification. The device includes: a first setting module for setting verification points along a preset inspection path of the wheeled robot; wherein beacons are deployed at the verification points, and the beacons store the standard positions of the verification points; a first control module for controlling the wheeled robot to drive towards the verification points and read the standard positions stored by the beacons after the wheeled robot completes its inspection work; a first determining module for obtaining the positioning position of the wheeled robot at the verification points and determining the positional deviation between the positioning position and the standard position; and a second control module for controlling the wheeled robot to drive from the verification points to a charging point for charging if the positional deviation is within a preset deviation range.

[0007] Thirdly, the present invention provides a device including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-described wheeled robot control method based on point-to-point verification.

[0008] Fourthly, the present invention provides a storage medium storing machine-executable instructions. When the machine-executable instructions are invoked and executed by a processor, the machine-executable instructions cause the processor to implement the above-described wheeled robot control method based on point-to-point verification.

[0009] The embodiments of the present invention bring the following beneficial effects:

[0010] The present invention provides a wheeled robot control method, device, and electronic device based on point-of-care verification. The method includes: setting verification points in a preset inspection path of the wheeled robot; wherein, beacons are deployed at the verification points, and the beacons store the standard positions of the verification points; after the wheeled robot completes the inspection operation, controlling the wheeled robot to drive to the verification point and read the standard positions stored by the beacons; obtaining the positioning position of the wheeled robot at the verification point and determining the positional deviation between the positioning position and the standard position; if the positional deviation is within a preset deviation range, controlling the wheeled robot to drive from the verification point to a charging point for charging.

[0011] In this method, by setting up verification points equipped with beacons along the preset inspection path, an absolute position reference independent of the dead reckoning system is provided for the wheeled robot. After completing the inspection, the wheeled robot first drives to the verification point to obtain the standard position stored by the beacon. By comparing its own positioning position with the standard position, the position deviation is determined. Only when the position deviation is within the preset deviation range is the wheeled robot allowed to drive to the charging point. This design avoids the collision risk that may be caused by inaccurate positioning, ensuring the safety of both the wheeled robot and the charging equipment, as well as ensuring the reliable execution of the charging process, thus improving the overall stability and efficiency of the wheeled robot's inspection operation.

[0012] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0013] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 A flowchart illustrating a wheeled robot control method based on point-to-point verification provided in an embodiment of the present invention;

[0016] Figure 2 A flowchart of another wheeled robot control method based on point-to-point verification provided in an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of a wheeled robot control device based on point-to-point verification is provided in an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To facilitate understanding of this embodiment, a detailed description of a wheeled robot control method based on point-to-point verification disclosed in this invention will be provided first, such as... Figure 1 As shown, this method includes the following steps:

[0021] Step S102: Set up verification points in the preset inspection path of the wheeled robot; wherein, the verification points are equipped with beacons, and the beacons store the standard positions of the verification points.

[0022] Specifically, the preset inspection path is first digitally modeled in detail, and three types of core locations are accurately marked in the constructed digital map: operation location, charging location and verification location. Based on these locations, an inspection path is generated that passes through these locations in sequence.

[0023] Here, the work site is the designated location where the wheeled robot performs inspection tasks. At the work site, the wheeled robot needs to perform tasks such as data collection on the corresponding work objects. The charging site can be set at the beginning of the preset inspection path, serving as both a pre-energy replenishment point before the wheeled robot starts its inspection work and a final energy replenishment point after completing all inspection tasks. Verification points are located at critical path nodes between the work site and the charging site. Generally, verification points are set in a straight line with the charging point. This layout design can prevent the wheeled robot from experiencing positional deviations when finally reaching the charging point due to actions such as sliding or sharp turns that are prone to positioning errors after leaving the verification point.

[0024] It should be noted that beacons are deployed at the verification points, and these beacons store the standard positions of the verification points. The standard positions can be the latitude and longitude of the verification point, or they can be three-dimensional spatial coordinates based on a preset coordinate system, such as the coordinates of the verification point in the three-dimensional coordinate system of the wheeled robot's operating scenario.

[0025] Step S104: After the wheeled robot completes the inspection operation, control the wheeled robot to drive to the verification point and read the standard position stored in the beacon.

[0026] In one approach, in addition to providing energy replenishment, the charging point also integrates a pose calibration device. When the wheeled robot docks at the charging point to complete charging, the pose calibration device first detects the current actual pose of the wheeled robot, which includes the position information and heading angle of the wheeled robot. Then, based on its own pre-stored standard pose information, it automatically calibrates the deviation between the actual pose and the standard pose, enabling the wheeled robot to accurately match the standard pose and providing an accurate initial positioning reference for subsequent inspection operations.

[0027] After obtaining the preset inspection path, the wheeled robot begins to move along the preset inspection path. Here, the wheeled robot can complete charging and position calibration at the charging point located at the beginning of the preset inspection path. Then, it moves along the preset inspection path and performs inspection operations at the work points in the preset inspection path.

[0028] After the wheeled robot completes its inspection work at multiple work points, it can be controlled to return to the verification point along a preset inspection path. When the wheeled robot travels to the vicinity of the verification point, it will actively sense and obtain the standard position stored in the beacon through its onboard reading device.

[0029] Step S106: Obtain the positioning position of the wheeled robot at the verification point and determine the positional deviation between the positioning position and the standard position.

[0030] When the wheeled robot reads the standard position stored in the beacon at the verification point using its onboard reading device, it simultaneously obtains its own positioning position at the verification point. Subsequently, based on the preset deviation calculation rules, it performs a quantitative comparison between its own positioning position and the standard position, and finally determines the positional deviation between the two. For example, this deviation may include the coordinate difference in the horizontal direction, the vertical direction, and the comprehensive deviation value, providing a basis for determining whether it is allowed to drive to the charging point.

[0031] Step S108: If the position deviation is within the preset deviation range, control the wheeled robot to drive from the calibration point to the charging point for charging.

[0032] The above-mentioned preset deviation range is a safe range pre-set based on the docking accuracy requirements of the charging point, such as a horizontal deviation of no more than 5cm and a comprehensive deviation of no more than 8cm.

[0033] When the positional deviation is determined to be within this range, it indicates that the current positioning accuracy of the wheeled robot meets the charging docking requirements. At this time, a driving command is generated to control the wheeled robot to smoothly drive towards the charging point along the straight path between the verification point and the charging point, complete the precise docking and charging replenishment, and ensure the safety and smoothness of the charging process.

[0034] The present invention provides a wheeled robot control method based on point-of-care verification, which sets verification points in the preset inspection path of the wheeled robot; wherein, the verification points are equipped with beacons, and the beacons store the standard positions of the verification points; after the wheeled robot completes the inspection work, it is controlled to drive to the verification point and read the standard positions stored by the beacons; the positioning position of the wheeled robot at the verification point is obtained, and the positional deviation between the positioning position and the standard position is determined; if the positional deviation is within a preset deviation range, the wheeled robot is controlled to drive from the verification point to the charging point for charging.

[0035] In this method, by setting up verification points equipped with beacons along the preset inspection path, an absolute position reference independent of the dead reckoning system is provided for the wheeled robot. After completing the inspection, the wheeled robot first drives to the verification point to obtain the standard position stored by the beacon. By comparing its own positioning position with the standard position, the position deviation is determined. Only when the position deviation is within the preset deviation range is the wheeled robot allowed to drive to the charging point. This design avoids the collision risk that may be caused by inaccurate positioning, ensuring the safety of both the wheeled robot and the charging equipment, as well as ensuring the reliable execution of the charging process, thus improving the overall stability and efficiency of the wheeled robot's inspection operation.

[0036] Please see Figure 2 This solution also provides an exemplary embodiment, which provides a more detailed description of the wheeled robot control method based on point-to-point verification. For example... Figure 2 As shown, this method includes the following steps:

[0037] Step S202: Set up verification points in the preset inspection path of the wheeled robot; wherein, the verification points are equipped with beacons, and the beacons store the standard positions of the verification points.

[0038] This step is the same as step S102, and will not be described again.

[0039] Step S204: The charging point has the standard pose information of the wheeled robot stored in it. The wheeled robot is controlled to complete charging at the charging point and the pose of the wheeled robot is calibrated based on the standard pose information. After the pose calibration is completed, the wheeled robot is controlled to move along the preset inspection path and perform inspection work at the work points in the preset inspection path.

[0040] The aforementioned standard pose information includes standard position and standard heading angle.

[0041] In this method, in addition to providing energy replenishment, the charging point also integrates a posture calibration device. When the wheeled robot stops at the charging point to complete charging, the posture calibration device will first detect the current actual posture of the wheeled robot, which includes the position information and heading angle of the wheeled robot. Then, based on its own pre-stored standard posture information, it will automatically calibrate the deviation between the actual posture and the standard posture, so that the wheeled robot can accurately match the standard posture and provide an accurate initial positioning reference for subsequent inspection operations.

[0042] After the wheeled robot completes charging at the charging point, the robot's pose is calibrated according to the standard pose information to ensure that the robot accurately matches the standard pose information. After the pose calibration is completed, the wheeled robot is controlled to move along the preset inspection path and perform inspection operations at the work points in the preset inspection path.

[0043] Step S206: The preset inspection path includes multiple work points; after the wheeled robot completes the inspection work at multiple work points, control the wheeled robot to return to the verification point along the preset inspection path, and control the wheeled robot to read the standard position stored in the beacon.

[0044] In other words, the preset inspection path has multiple work points planned, and the wheeled robot will complete the predetermined inspection tasks at each work point in sequence according to the path. After the inspection work at all work points is completed, the system will issue a return command, controlling the wheeled robot to return to the pre-set verification point along the preset inspection path, and triggering the wheeled robot to read the standard position stored by the beacon at the verification point through its onboard reading device, in preparation for subsequent positioning deviation judgment and calibration.

[0045] Step S208: Obtain the positioning position of the wheeled robot at the verification point and determine the positional deviation between the positioning position and the standard position.

[0046] When the wheeled robot reads the standard position stored in the beacon at the verification point using its onboard reading device, it simultaneously obtains its own positioning position at the verification point. Subsequently, based on the preset deviation calculation rules, it performs a quantitative comparison between its own positioning position and the standard position, and finally determines the positional deviation between the two. For example, this deviation may include the coordinate difference in the horizontal direction, the vertical direction, and the comprehensive deviation value, providing a basis for determining whether it is allowed to drive to the charging point.

[0047] Step S210: If the position deviation is within the preset deviation range, control the wheeled robot to drive from the calibration point to the charging point for charging.

[0048] The above-mentioned preset deviation range is a safe range pre-set based on the docking accuracy requirements of the charging point, such as a horizontal deviation of no more than 5cm and a comprehensive deviation of no more than 8cm.

[0049] When the positional deviation is determined to be within this range, it indicates that the current positioning accuracy of the wheeled robot meets the charging docking requirements. At this time, a driving command is generated to control the wheeled robot to smoothly drive towards the charging point along the straight path between the verification point and the charging point, complete the precise docking and charging replenishment, and ensure the safety and smoothness of the charging process.

[0050] In one approach, if the position deviation is not within a preset deviation range, the wheeled robot is controlled to perform the following steps: the wheeled robot is controlled to retreat to the most recently passed target work point, and then moves from the target work point back to the verification point and reads the standard position; the positioning position of the wheeled robot at the verification point is obtained, and the position deviation between the positioning position and the standard position is determined; the above steps are repeated until the position deviation is within the preset deviation range, and then the wheeled robot is controlled to move from the verification point to the charging point for charging.

[0051] In other words, if the position deviation exceeds the preset deviation range, it indicates that the wheeled robot's current positioning accuracy does not meet the charging docking requirements, and it is not allowed to directly drive to the charging point. The system will automatically trigger a deviation correction process: first, control the wheeled robot to retreat to the target work point it has recently passed in the inspection path, then instruct the wheeled robot to drive from that target work point back to the verification point along the preset path, and again obtain the standard position stored by the beacon through the reading device, and then recalculate the deviation between the wheeled robot's own positioning position and the standard position at the verification point.

[0052] The above steps will be executed repeatedly until the position deviation is within the preset deviation range. Only then will a driving command be generated to control the wheeled robot to drive from the calibration point to the charging point to complete the charging and refueling.

[0053] In one approach, after the wheeled robot travels from the calibration point to the charging point to complete its charging, the pose calibration device integrated at the charging point will be activated again. Based on its pre-stored standard pose information, the device will perform a secondary calibration on the wheeled robot's current actual pose, correcting any slight pose deviations that may occur during the charging process. This ensures that the wheeled robot always maintains a precise pose, laying a solid initial positioning foundation for the next inspection operation.

[0054] In one approach, the preset inspection path includes multiple work points; when the wheeled robot arrives at a work point, the robot is controlled to activate its onboard work module to take a picture of the work object and obtain a first image; the first pixel position of the work object in the first image and the second pixel position of the work object in a pre-stored standard image are obtained; based on the second pixel position and the first pixel position, the pose deviation of the work module is determined; in response to the pose deviation of the work module not exceeding a preset deviation threshold, the work module is controlled to perform inspection work on the work object.

[0055] The aforementioned standard image is a reference image taken by the operation module of the operation object in a standard pose state. The standard image records the complete shape and precise pixel distribution of the operation object under the ideal inspection view.

[0056] Here, multiple work points are planned along the preset inspection path. When the wheeled robot travels to any work point and stops precisely, the system controls the wheeled robot to activate its onboard work module. This work module can adopt a gimbal structure and integrates work components such as inspection cameras and detection sensors. The work module takes a picture of the work object at that work point to generate the first image.

[0057] Subsequently, the system extracts the first pixel position of the work object in the first image and retrieves the second pixel position of the work object in the pre-stored standard image. By comparing the difference between the second pixel position and the first pixel position, the current pose deviation of the work module is quantitatively calculated. If the pose deviation does not exceed the preset deviation threshold, it indicates that the positioning accuracy of the work module meets the inspection requirements. At this time, the work module can be controlled to perform predetermined inspection tasks on the work object. These inspection tasks may include identifying the appearance status of the work object and collecting data from the work object.

[0058] If the pose deviation exceeds a preset deviation threshold, it indicates that the current pose state of the work module does not meet the inspection accuracy requirements. In this case, the inspection operation of the work module needs to be paused and the pose correction mechanism triggered. For example, the pose correction mechanism can be as follows: the system generates corresponding adjustment instructions for the work module based on the calculated pose deviation. These adjustment instructions may include fine-tuning the joint angle of the robotic arm, correcting the camera pitch angle or translation, etc., driving the work module to correct towards the standard pose corresponding to the standard image. After the correction is completed, the image of the work object is re-captured and the pose deviation is calculated until the pose deviation is less than the preset deviation threshold. Then, the work module is controlled to perform inspection operations on the work object to ensure that the collected data or images meet the quality standards.

[0059] It should be noted that the preset deviation threshold is determined based on the first data; the first data includes at least one of the following: ground environment data of the work site, the operating status of the wheeled robot at the work site, and the historical driving data of the wheeled robot at the work site.

[0060] In other words, the preset deviation threshold is not a fixed value, but is dynamically determined based on the actual scenario. The preset deviation threshold is determined based on the first data, which may specifically include at least one of the following:

[0061] 1) Ground environment data at the work site, such as ground flatness, ground smoothness, ground slope, and obstacle distribution. Generally, the smoother the ground, the easier it is for the wheeled robot to slip, so the preset deviation threshold should be smaller to achieve higher inspection accuracy. Conversely, when the ground is rugged and obstacles are dense, the preset deviation threshold should be larger to avoid frequent corrections due to environmental interference, which would affect work efficiency.

[0062] 2) Real-time operating status of the wheeled robot at the work site, such as travel speed, docking stability, power output, and whether there are sharp turns. For example, when the wheeled robot docks smoothly at a low speed, the posture control accuracy is higher, and the preset deviation threshold can be set smaller; if the travel speed is faster or there are sharp turns, the posture deviation may increase due to inertia, and the preset deviation threshold can be increased accordingly.

[0063] 3) Historical driving data of the wheeled robot at the work site, such as historical pose deviation records, whether the wheeled robot slipped at the work site, and the number of times it slipped. For example, if the historical data of a certain work site shows frequent slippage or large pose deviations, it indicates that the site is prone to positioning fluctuations, and the preset deviation threshold may need to be appropriately increased to adapt to the actual situation.

[0064] This method allows for a more accurate assessment of positional deviations, ensuring inspection precision while avoiding overly stringent or lenient standards that could negatively impact operational efficiency.

[0065] In one approach, the pose deviation of the work module can be calculated as follows:

[0066] Calculate the pixel coordinate difference between the second pixel position and the first pixel position in the image coordinate system; wherein the pixel coordinate difference includes the difference in the horizontal direction and the difference in the vertical direction; based on the preset transformation relationship, convert the pixel coordinate difference into the translational deviation and rotational deviation of the working module in the spatial coordinate system; based on the translational deviation and rotational deviation, determine the pose deviation of the working module.

[0067] In one implementation, the first pixel coordinates of the target object in the first image and the second pixel coordinates in the standard image are extracted. The difference between their pixel coordinates in the image coordinate system is calculated, specifically including the difference in the horizontal direction and the difference in the vertical direction. Then, a preset pixel-space transformation relationship is invoked. This transformation relationship can be pre-calibrated based on the installation parameters of the target module, the shooting focal length, the working distance, etc., to convert the difference in pixel coordinates in the horizontal and vertical directions into translational and rotational deviations of the target module in the spatial coordinate system, respectively. The translational deviation includes the positional offset in the X and Y directions of the spatial coordinate system; the rotational deviation includes the yaw angle offset around the Z axis perpendicular to the ground.

[0068] The translational and rotational deviations are calculated together to obtain the pose deviation of the work module, which serves as the basis for determining whether to perform subsequent inspection operations.

[0069] For example, the translational deviation of the operation module in the spatial coordinate system is: 3mm off in the X-axis direction and 2mm off in the Y-axis direction; the rotational deviation is: 0.5° off in the heading angle around the Z-axis.

[0070] During comprehensive calculations, a conversion relationship can be set based on the weighted impact of translational and rotational deviations on inspection accuracy. For example, 1° rotational deviation is equivalent to 5mm translational deviation, so 0.5° rotational deviation can be converted into 2.5mm translational amount; the final pose deviation is... ≈5.59mm.

[0071] If the preset deviation threshold for the work point is 6mm, since 5.59mm is less than the preset deviation threshold, the pose is deemed qualified, and the work module can be controlled to perform inspection work on the work object; if the preset deviation threshold for the work point is 4mm, the pose correction mechanism is triggered, the pose of the work module is adjusted, and the photo is retaken and the pose deviation of the work module is determined until the pose deviation does not exceed the preset deviation threshold.

[0072] If the pose deviation is still much greater than the preset deviation threshold after calibration, the system will mark this work point as "positioning abnormal" and package the first image for reporting, requesting manual intervention.

[0073] This solution fundamentally solves the positioning inaccuracy problem of wheeled robots in complex and hazardous environments caused by slippage and cumulative errors. By deconstructing the inspection path into multiple functionally defined points and introducing intelligent verification logic centered on preset deviation thresholds, a mechanism similar to "map calibration points" is provided for wheeled robots, effectively compensating for the inherent defects of their mechanical transmission. This not only ensures the accuracy of the geographic information of the inspection data collected during inspection operations, laying a solid foundation for precise equipment status management and risk source location, but also significantly improves the robustness and automation level of the entire inspection system. It is a key technological support for achieving unmanned, high-standard inspections in hazardous environments such as petrochemical and chemical industries.

[0074] The following describes the wheeled robot control device based on point-to-point verification in an embodiment of the present invention. Please refer to [link / reference]. Figure 3 One embodiment of the wheeled robot control device based on point-to-point verification in this invention includes:

[0075] The first setting module 302 is used to set verification points in the preset inspection path of the wheeled robot; wherein, the verification points are equipped with beacons, and the beacons store the standard positions of the verification points;

[0076] The first control module 304 is used to control the wheeled robot to drive to the verification point and read the standard position stored in the beacon after the wheeled robot completes the inspection operation.

[0077] The first determining module 306 is used to obtain the positioning position of the wheeled robot at the verification point and determine the positional deviation between the positioning position and the standard position.

[0078] The second control module 308 is used to control the wheeled robot to drive from the calibration point to the charging point for charging if the position deviation is within the preset deviation range.

[0079] In this method, by setting up verification points equipped with beacons along the preset inspection path, an absolute position reference independent of the dead reckoning system is provided for the wheeled robot. After completing the inspection, the wheeled robot first drives to the verification point to obtain the standard position stored by the beacon. By comparing its own positioning position with the standard position, the position deviation is determined. Only when the position deviation is within the preset deviation range is the wheeled robot allowed to drive to the charging point. This design avoids the collision risk that may be caused by inaccurate positioning, ensuring the safety of both the wheeled robot and the charging equipment, as well as ensuring the reliable execution of the charging process, thus improving the overall stability and efficiency of the wheeled robot's inspection operation.

[0080] The aforementioned charging points pre-store standard pose information of the wheeled robot; the aforementioned device also includes: a first calibration module, used to control the wheeled robot to complete charging at the charging point and to perform pose calibration on the wheeled robot based on the standard pose information; after the pose calibration is completed, the wheeled robot is controlled to move along a preset inspection path and perform inspection operations at the work points in the preset inspection path.

[0081] The aforementioned preset inspection path includes multiple work points; the first control module is also used to: after the wheeled robot completes the inspection work at multiple work points, control the wheeled robot to return to the verification point along the preset inspection path, and control the wheeled robot to read the standard position stored in the beacon.

[0082] The aforementioned device also includes a third control module, used to control the wheeled robot to perform the following steps if the position deviation is not within a preset deviation range: control the wheeled robot to retreat to the most recently passed target work point, drive from the target work point back to the verification point and read the standard position; obtain the wheeled robot's positioning position at the verification point, determine the position deviation between the positioning position and the standard position; repeat the above steps until the position deviation is within the preset deviation range, and then control the wheeled robot to drive from the verification point to the charging point for charging.

[0083] The aforementioned preset inspection path includes multiple work points; the aforementioned device includes a first execution module, used to control the wheeled robot to start its onboard work module to take a picture of the work object when the wheeled robot arrives at the work point, thereby obtaining a first image; to obtain the first pixel position of the work object in the first image and the second pixel position of the work object in a pre-stored standard image; to determine the pose deviation of the work module based on the second pixel position and the first pixel position; and to control the work module to perform inspection work on the work object in response to the pose deviation of the work module not exceeding a preset deviation threshold.

[0084] The aforementioned preset deviation threshold is determined based on the first data; the first data includes at least one of the following: ground environment data of the work site, the operating status of the wheeled robot at the work site, and the historical driving data of the wheeled robot at the work site.

[0085] The first execution module is used to calculate the pixel coordinate difference between the second pixel position and the first pixel position in the image coordinate system; wherein the pixel coordinate difference includes a horizontal difference and a vertical difference; based on a preset transformation relationship, the pixel coordinate difference is converted into the translational deviation and rotational deviation of the working module in the spatial coordinate system; based on the translational deviation and rotational deviation, the pose deviation of the working module is determined.

[0086] This embodiment also provides an electronic device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor. The processor executes the machine-executable instructions to implement the above-described wheeled robot control method based on point-to-point verification.

[0087] See Figure 4 As shown, the electronic device includes a processor 100 and a memory 101. The memory 101 stores machine-executable instructions that can be executed by the processor 100. The processor 100 executes the machine-executable instructions to implement the above-described wheeled robot control method based on point-to-point verification.

[0088] Furthermore, Figure 4 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 100, the communication interface 103 and the memory 101 connected via the bus 102.

[0089] The memory 101 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0090] Processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 100 or by instructions in software form. Processor 100 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 101, and the processor 100 reads the information from memory 101 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0091] This embodiment also provides a storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by the processor, the machine-executable instructions cause the processor to implement the above-described wheeled robot control method based on point-to-point verification.

[0092] The computer program product of the wheeled robot control method, device and electronic device based on point-to-point verification provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0093] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0094] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0095] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0097] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a wheeled robot based on point position verification, characterized by, The method comprises: setting a check point in a preset inspection path of the wheeled robot; wherein the check point is provided with a beacon, and the beacon stores a standard position of the check point; the preset inspection path comprises a plurality of work points; after the wheeled robot completes the inspection work, controlling the wheeled robot to drive to the check point and read the standard position stored by the beacon; obtaining the positioning position of the wheeled robot at the check point, and determining the position deviation between the positioning position and the standard position; if the position deviation is within a preset deviation range, controlling the wheeled robot to drive from the check point to a charging point for charging; The method further comprises: if the position deviation is not within the preset deviation range, controlling the wheeled robot to perform the following steps: control the wheeled robot to back up to the last passed target work point, drive from the target work point to the check point again and read the standard position; obtaining the positioning position of the wheeled robot at the check point, and determining the position deviation between the positioning position and the standard position; repeat the above steps until the position deviation is within the preset deviation range, and then control the wheeled robot to drive from the check point to the charging point for charging.

2. The method of claim 1, wherein, The charging point pre-stores standard pose information of the wheeled robot; before the step of controlling the wheeled robot to drive to the check point and read the standard position stored by the beacon, the method comprises: controlling the wheeled robot to complete charging at the charging point, and performing pose calibration on the wheeled robot based on the standard pose information; after the pose calibration is completed, controlling the wheeled robot to move along the preset inspection path and perform inspection work at the work points in the preset inspection path.

3. The method of claim 1, wherein, The step of controlling the wheeled robot to drive to the check point and read the standard position stored by the beacon after the wheeled robot completes the inspection work comprises: after the wheeled robot completes the inspection work at the plurality of work points, controlling the wheeled robot to return to the check point along the preset inspection path, and controlling the wheeled robot to read the standard position stored by the beacon.

4. The method of claim 1, wherein, The preset inspection path comprises a plurality of work points; the method further comprises: when the wheeled robot arrives at the work point, controlling the wheeled robot to start the work module carried to take a photo of the work object, obtaining a first image; obtaining a first pixel position of the work object in the first image, and a second pixel position of the work object in a pre-stored standard image; based on the second pixel position and the first pixel position, determining the pose deviation of the work module; in response to the pose deviation of the work module not exceeding a preset deviation threshold, controlling the work module to perform inspection work on the work object.

5. The method of claim 4, wherein, The preset deviation threshold is determined based on first data; the first data at least comprises one of the following: The ground environment data of the work point, the running state of the wheeled robot at the work point, and historical driving data of the wheeled robot at the work point.

6. The method of claim 4, wherein, The step of determining the pose deviation of the work module based on the second pixel position and the first pixel position comprises: calculating a pixel coordinate difference value of the second pixel position and the first pixel position in an image coordinate system; wherein the pixel coordinate difference value comprises a horizontal direction difference value and a vertical direction difference value; based on a preset conversion relationship, converting the pixel coordinate difference value into a translation deviation and a rotation deviation of the work module in a spatial coordinate system; determining the pose deviation of the work module based on the translation deviation and the rotation deviation.

7. A wheeled robot control device based on point position verification, characterized by, The device comprises: a first setting module configured to set a check point in a preset inspection path of a wheeled robot; wherein the check point is provided with a beacon, and the beacon stores a standard position of the check point; the preset inspection path comprises a plurality of work points; a first control module configured to control the wheeled robot to drive to the check point and read the standard position stored by the beacon after the wheeled robot completes an inspection task; a first determination module configured to obtain a positioning position of the wheeled robot at the check point, and determine a position deviation between the positioning position and the standard position; a second control module configured to control the wheeled robot to drive to a charging point for charging if the position deviation is within a preset deviation range; a third control module configured to control the wheeled robot to perform the following steps if the position deviation is not within the preset deviation range: control the wheeled robot to back up to a last passed target work point, drive to the check point from the target work point and read the standard position again; obtain a positioning position of the wheeled robot at the check point, determine a position deviation between the positioning position and the standard position; repeat the above steps until the position deviation is within the preset deviation range, and then control the wheeled robot to drive to the charging point for charging.

8. An electronic device, comprising: A processor and a memory, the memory stores machine executable instructions that can be executed by the processor, the processor executes the machine executable instructions to implement the point check based wheeled robot control method of any one of claims 1-6.

9. A storage medium, characterized by The storage medium stores machine executable instructions, when the machine executable instructions are called and executed by a processor, the machine executable instructions cause the processor to implement the point check based wheeled robot control method of any one of claims 1-6.

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