Walking navigation system, computer room inspection system and computer room inspection method

Abstract

The present invention discloses a walking navigation system, comprising: a walking device, comprising: a power walking system, used to drive the walking device to walk; a first navigation device, comprising a transmitter for emitting light and a receiver for receiving and detecting reflected light; a control device, connected to the power walking system and the first navigation device by signal; a navigation belt, used to cooperate with the first navigation device to guide the walking device to walk, comprising a first bar-shaped guide bar and a second bar-shaped guide bar, the first guide bar is provided with a first bar-shaped area with a first reflectivity to the light, and the second guide bar is provided with a second bar-shaped area with a second reflectivity to the light; wherein the control device is configured to: control the power walking system to drive the walking device to walk according to the result of the receiver receiving and detecting the reflected light of the first guide bar and the reflected light of the second guide bar. The walking navigation system of the present invention has high navigation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation walking, and in particular to a walking navigation system, a machine room inspection system and a machine room inspection method. Background Art

[0002] Vehicles, robots and other walking devices are often equipped with navigation systems. The navigation system is used to plan the route of the walking device during walking, so that the walking device can walk along the appropriate route. For example, in the daily operation and maintenance of the computer room, the inspection robot usually uses SLAM (Simultaneous Localization and Mapping) navigation, and the inspection robot can walk and inspect along the appropriate route. However, many existing navigation systems are not accurate enough. In some occasions where the route walking accuracy is required to be high, the existing navigation systems often cannot meet the requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a walking navigation system with high navigation accuracy and also to provide a machine room inspection system using the walking navigation system.

[0004] The first aspect of the present invention discloses a walking navigation system, comprising:

[0005] Traveling device, including:

[0006] A power travel system, used to drive the travel device to travel;

[0007] A first navigation device includes a transmitter for transmitting light and a receiver for receiving and detecting reflected light;

[0008] A control device, connected to the power travel system and the first navigation device by signal;

[0009] A navigation belt, used for cooperating with the first navigation device to guide the walking device to walk, comprising a first strip-shaped guide strip and a second strip-shaped guide strip, the first guide strip is provided with a first strip-shaped area having a first reflectivity for the light, and the second guide strip is provided with a second strip-shaped area having a second reflectivity for the light;

[0010] The control device is configured to control the power travel system to drive the travel device to travel according to the result of the receiver receiving and detecting the reflected light of the light by the first guide bar and the reflected light of the light by the second guide bar.

[0011] In some embodiments, at least one identification point is provided on the navigation belt, and corresponding to each identification point, a first identification area and a second identification area are respectively provided on the first guide strip and the second guide strip, wherein the first identification area and the first strip area have different reflectivity to the light, and / or the second identification area and the second strip area have different reflectivity to the light.

[0012] In some embodiments, the first guide bar is provided with a plurality of the first strip areas and a plurality of the first identification areas alternately arranged along its extension direction, and the second guide bar is provided with a plurality of the second strip areas and a plurality of the second identification areas alternately arranged along its extension direction.

[0013] In some embodiments, the first guide bar and the second guide bar are arranged in parallel.

[0014] In some embodiments, the first strip-shaped area and the second strip-shaped area both extend in a straight line direction.

[0015] In some embodiments, the navigation strip further includes a third guide strip having a strip shape, the third guide strip being provided with a third strip region having a first reflectivity for the light, and the second guide strip being provided between the first guide strip and the third guide strip.

[0016] In some embodiments, the navigation belt is provided with multiple identification points, and corresponding to each identification point, a first identification area, a second identification area and a third identification area are respectively provided on the first guide strip, the second guide strip and the third guide strip, wherein the first identification area has a different reflectivity to the light than the first strip area, the second identification area has a different reflectivity to the light than the second strip area, and / or the third identification area has a different reflectivity to the light than the third strip area.

[0017] In some embodiments, the first guide bar is provided with a plurality of the first strip areas and a plurality of the first identification areas alternately arranged along its extension direction, the second guide bar is provided with a plurality of the second strip areas and a plurality of the second identification areas alternately arranged along its extension direction, the third guide bar is provided with a plurality of the third strip areas and a plurality of the third identification areas alternately arranged along its extension direction, and the first identification area, the second identification area and the third identification area corresponding to each identification point are all located on the same straight line perpendicular to the extension direction of the first guide bar.

[0018] In some embodiments, the first reflectivity is greater than the second reflectivity, and the multiple identification points include a first identification point, multiple second identification points and a third identification point arranged along the extension direction of the first guide strip; at the first identification point, the reflectivity of the first identification area to the light is the first reflectivity, the reflectivity of the second identification area to the light is the first reflectivity, and the reflectivity of the third identification area to the light is the first reflectivity; at the second identification point, the reflectivity of the first identification area to the light is the second reflectivity, the reflectivity of the second identification area to the light is the first reflectivity, and the reflectivity of the third identification area to the light is the second reflectivity; at the third identification point, the reflectivity of the first identification area to the light is the second reflectivity, the reflectivity of the second identification area to the light is the second reflectivity, and the reflectivity of the third identification area to the light is the second reflectivity.

[0019] In some embodiments, the navigation belt is arranged on the ground on which the walking device walks.

[0020] A second aspect of the present invention discloses a machine room inspection system, comprising any one of the walking navigation systems described above, wherein the walking device is an inspection robot for inspecting a plurality of cabinets located in the machine room.

[0021] In some embodiments, the walking device also includes a second navigation device, the multiple cabinets form a wide channel and a narrow channel for the inspection robot to walk in the machine room, the navigation belt is arranged on the ground of the narrow channel, the second navigation device is used to navigate the inspection robot when passing through the wide channel, and the first navigation device is used to navigate the inspection robot when passing through the narrow channel.

[0022] In some embodiments, the second navigation device comprises a slam navigation device.

[0023] The third aspect of the present invention discloses a computer room inspection method, which applies the computer room inspection system. The computer room inspection method includes: when the inspection robot passes through the wide passage, the inspection robot uses the second navigation device to navigate; when the second navigation device navigates the inspection robot to an area where the first navigation device can identify the navigation belt, the inspection robot switches to using the first navigation device and the navigation belt to navigate the inspection robot; when the first navigation device identifies a first navigation end identification point provided on the navigation belt, the inspection robot switches to using the second navigation device to navigate.

[0024] Based on the walking navigation system provided by the present invention, by setting a control device, a first navigation device with the function of emitting light and receiving reflected light, and setting a navigation belt including a first strip area and a second strip area with different reflectivity, after the first navigation device receives the reflected light from the first strip area and the second strip area, the control device can calculate the walking route of the walking device according to the detection result of the first navigation device, and the control device can control the walking device to walk according to the walking route. When walking, since the first guide bar and the second guide bar are arranged in strips, more accurate navigation can be provided for the route of the walking device. The present invention can provide a walking navigation system with high navigation accuracy.

[0025] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 It is a structural schematic diagram of a walking navigation system in the prior art;

[0028] Figure 2 A schematic diagram of the structure of a walking navigation system according to an embodiment of the present invention;

[0029] Figure 3 for Figure 2 A partial structural schematic diagram of a walking navigation system shown;

[0030] Figure 4 for Figure 2 The signal diagram of the navigation belt of the walking navigation system shown;

[0031] Figure 5 It is a bottom-up structural schematic diagram of a walking device with a first navigation device in a walking navigation system according to another embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] like Figure 1 In the walking navigation system of the prior art shown, for example Figure 1 When the walking device of the inspection robot is inspecting the cabinet 5 in the machine room, the inspection robot can use a conventional navigation system, such as a SLAM navigation system, when walking in a wide passage. Figure 1 As shown in the passage below the bottommost cabinet 5, it is difficult for the inspection robot to pass through the narrow passage along a suitable route due to the limitation of the navigation accuracy of the conventional navigation system.

[0036] In view of this, this embodiment discloses a walking navigation system. Figures 2 to 4 The walking navigation system shown includes a walking device 4 and a navigation belt 100 .

[0037] The walking device 4 includes a power walking system, a first navigation device 41 and a control device. The walking device may include various devices capable of navigation and walking, such as vehicles, robots, etc., such as automatic walking devices, automatic driving vehicles, etc.

[0038] The power travel system is used to drive the travel device 4 to travel. The power travel system includes a travel system such as wheels and a power system such as an engine or a motor. The power system provides power to drive the travel system to move, and the travel system drives the travel device 4 to travel.

[0039] like Figure 3 As shown, the first navigation device 41 includes a transmitter 411 for transmitting light and a receiver 412 for receiving and detecting reflected light. The transmitter 411 is used to transmit detection light such as visible light or invisible light, and the navigation belt 100 reflects the detection light after receiving the detection light, and the receiver 412 receives and detects the reflected light of the navigation belt 100. For example, the first navigation device 41 may include a linear array infrared sensor, the transmitter 411 includes a light emitting array for transmitting infrared light, and the receiver 412 includes a receiving array for receiving infrared light.

[0040] The control device is connected to the power travel system and the first navigation device 41 by signals.

[0041] The navigation belt 100 is used to cooperate with the first navigation device 41 to guide the walking device 4. The navigation belt 100 includes a first strip-shaped guide strip 1 and a second strip-shaped guide strip 2. The first guide strip 1 is provided with a first strip-shaped area 11 having a first reflectivity to light, and the second guide strip 2 is provided with a second strip-shaped area 21 having a second reflectivity to light.

[0042] The first reflectivity is different from the second reflectivity, for example, the first reflectivity is greater than the second reflectivity, the first strip area 11 is a high reflectivity area, that is, a high light-reflecting area, for example, a light-reflecting area with a light reflectivity greater than 60%, and the second strip area 12 is a low emissivity area, that is, a high light-absorbing area, for example, a light-reflecting area with a light reflectivity less than 20%. The high reflectivity area can use a reflective strip, and the low reflectivity area can use a black low-reflective film, etc. When the light emitted by the transmitter 411 reaches the first strip area and the second strip area, the first strip area and the second strip area have different reflectivities to the light, so that the receiver 412 can receive and detect different reflected light signals, and identify and distinguish the first strip area and the second strip area. In some embodiments, the navigation belt can be set on the ground, directly in contact with the walking device, or directly used as the walking track route of the walking device. In some other embodiments, the navigation belt can also be set on other objects, not in direct contact with the walking device, and is only used for non-contact identification and navigation of the walking device.

[0043] The control device is configured to control the power travel system to drive the travel device 4 to travel according to the result of the receiver 412 receiving and detecting the reflected light of the first guide bar 1 and the reflected light of the second guide bar 2.

[0044] Since the first strip area and the second strip area are in the shape of strips, the control device can determine the defined alignment point of the first strip area and the second strip area according to the receiving result of the receiver 412, which is the midpoint between the first guide bar and the second guide bar in this embodiment, that is, the midpoint between the first strip area and the second strip area at the starting position, so that the control device can control the walking device to start navigation walking after aligning with the alignment point; in some embodiments not shown in the figure, the alignment point can also be set to other proportional points such as the trisection point between the first guide bar and the second guide bar. In addition, the first strip area and the second strip area of ​​the strip are more likely to form a more accurate strip navigation route, so that the control device controls the walking device to walk along the walking route, and the navigation accuracy is higher. In the embodiment shown in the figure, the first strip area and the second strip area have the same direction as the navigation route, that is, the first strip area and the second strip area are parallel to the navigation route. In some embodiments, the first strip area or the second strip area itself can also be used as a navigation route, and the walking device walks directly along the navigation route.

[0045] The walking navigation system of this embodiment is provided with a control device, a first navigation device 41 having the function of emitting light and receiving reflected light, and a navigation belt 100 including a first strip area 11 and a second strip area 21 having different reflectivities. After the first navigation device 41 receives reflected light from the first strip area 11 and the second strip area 21, the control device can calculate the walking route of the walking device 4 according to the detection result of the first navigation device 41, and the control device can control the walking device 4 to walk according to the walking route. When walking, since the first guide strip 1 and the second guide strip 2 are arranged in strips, more accurate navigation can be provided for the route of the walking device 4. The present invention can provide a walking navigation system with high navigation accuracy.

[0046] In some embodiments, Figure 5 As shown, the first navigation device 41 is arranged at the bottom of the walking device.

[0047] In some embodiments, Figure 2 and Figure 4 As shown, at least one identification point is provided on the navigation belt 100, and corresponding to each identification point, a first identification area 12 and a second identification area 22 are respectively provided on the first guide strip 1 and the second guide strip 2, wherein the first identification area 12 and the first strip area 11 have different reflectivities to light, and / or the second identification area 22 and the second strip area 21 have different reflectivities to light.

[0048] As shown in the figure, setting an identification point on the navigation belt 100 can be used as a signal point. When the first navigation device of the walking device recognizes the identification point on the navigation belt 100, other operations such as starting the walking device to walk, stopping the walking device, and operating the walking device can be performed. That is, by setting the identification point on the navigation belt, the walking device can be positioned in various ways such as working position positioning in addition to walking navigation, and the navigation content is richer. In this embodiment, the identification point is established by setting the first identification area 12 and the second identification area 22. The establishment method is simple and effective. When the control device reads the detection result of the receiver, when it detects a detection result different from the detection result of the first strip area 11 and the second strip area 21, it can be determined that the identification point is set there.

[0049] In some embodiments, Figure 1 and Figure 4 As shown, the first guide strip 1 is provided with a plurality of first strip areas 11 and a plurality of first identification areas 12 alternately arranged along its extension direction, and the second guide strip 2 is provided with a plurality of second strip areas 21 and a plurality of second identification areas 22 alternately arranged along its extension direction. The alternating arrangement means that the strip area and the identification area appear in turn, the identification area is followed by the strip area, and the strip area is followed by the identification area. This setting can make the identification point and the strip area appear alternately, so that the walking device can walk when the strip area is identified, perform other operations when the identification point is identified, and continue to walk when the strip area is identified, that is, multiple work tasks can be set at multiple identification points, so that the walking device can continue to walk along the navigation belt after working at each identification point during the process of walking along the guide belt. In the embodiment shown in the figure, the first strip area 11 is connected to the adjacent first identification area 12, and the second strip area 21 is connected to the adjacent second identification area 22.

[0050] In some embodiments, Figures 2 to 4 As shown, the first guide bar 1 and the second guide bar 2 are arranged in parallel. This arrangement can more accurately calculate the midpoint between the first guide bar 1 and the second guide bar 2, and more accurately use the midpoint as the alignment point of the walking device. In addition, the first guide bar 1 and the second guide bar 2 arranged in parallel can also be more accurate and reliable when forming a navigation route to navigate the walking device.

[0051] In some embodiments, the first strip area 11 and the second strip area 21 both extend in a straight line. A walking device that needs to walk in a straight line can walk along the first strip area 11 and the second strip area 21. This embodiment helps to improve the navigation accuracy of the walking device that walks in a straight line.

[0052] In some embodiments, Figures 2 to 4As shown, the navigation belt 100 also includes a third guide bar 3 in a strip shape, and a third strip area 31 having a first reflectivity to light is provided on the third guide bar 3, and the second guide bar 2 is provided between the first guide bar 1 and the third guide bar 3. In this embodiment, the reflectivity of the third strip area 31 to light is the same as that of the first strip area, and the receiver 412 detects that the detection results of the first strip area 11 and the third strip area 31 are the same or substantially the same when receiving and detecting the reflected light, and the second guide bar 2 is provided between the first guide bar 1 and the third guide bar 3, and the alignment point can be obtained by calculating the midpoint between the first strip area 11 and the third strip area 31. In this embodiment, the width requirements of the first strip area 11 and the third strip area 31 can be relatively low, and at the same time, a high navigation accuracy can be ensured for the walking device.

[0053] In some embodiments, Figure 2 and Figure 4 As shown, a plurality of identification points are provided on the navigation belt 100, and corresponding to each identification point, a first identification area 12, a second identification area 22 and a third identification area 32 are provided on the first guide bar 1, the second guide bar 2 and the third guide bar 3, respectively, wherein the first identification area 12 and the first strip area 11 have different reflectivities to light, the second identification area 22 and the second strip area 21 have different reflectivities to light, and / or the third identification area 32 and the third strip area 31 have different reflectivities to light. In this embodiment, by setting different combinations of reflectivity types of the first identification area 12, the second identification area 22 and the third identification area 32, more types of identification points can be formed, thereby providing more types of navigation for the walking device.

[0054] In some embodiments, Figure 2 and Figure 4 As shown, the first guide bar 1 is provided with a plurality of first strip areas 11 and a plurality of first identification areas 12 alternately arranged along its extension direction, the second guide bar 2 is provided with a plurality of second strip areas 21 and a plurality of second identification areas 22 alternately arranged along its extension direction, the third guide bar 3 is provided with a plurality of third strip areas 31 and a plurality of third identification areas 32 alternately arranged along its extension direction, and the first identification area 12, the second identification area 22 and the third identification area 32 corresponding to each identification point are all located on the same straight line perpendicular to the extension direction of the first guide bar 1. The first identification area 12, the second identification area 22 and the third identification area 32 corresponding to one identification point are located on the same straight line, and the straight line perpendicular to the first guide bar 1 helps to make the signal of the identification point more regular and neat, so that the walking device can identify the identification point more quickly and accurately, reduce the interference with the signal of the strip area, and enable the walking device to perform tasks more timely and accurately after identifying the signal of the identification point.

[0055] In some embodiments, the first reflectivity is greater than the second reflectivity, and the multiple identification points include a first identification point 110, multiple second identification points 120 and a third identification point 130 arranged along the extension direction of the first guide strip 1; at the first identification point 110, the reflectivity of the first identification area 12 to light is the first reflectivity, the reflectivity of the second identification area 22 to light is the first reflectivity, and the reflectivity of the third identification area 32 to light is the first reflectivity; at the second identification point 120, the reflectivity of the first identification area 12 to light is the second reflectivity, the reflectivity of the second identification area 22 to light is the first reflectivity, and the reflectivity of the third identification area 32 to light is the second reflectivity; at the third identification point 130, the reflectivity of the first identification area 12 to light is the second reflectivity, the reflectivity of the second identification area 22 to light is the second reflectivity, and the reflectivity of the third identification area 32 to light is the second reflectivity.

[0056] In some embodiments, the navigation belt 100 is disposed on the ground on which the walking device 4 walks.

[0057] In some embodiments, a machine room inspection system is also disclosed. The machine room inspection system includes any of the walking navigation systems described above, and the walking device 4 is an inspection robot for inspecting multiple cabinets 5 located in the machine room.

[0058] In some embodiments, the walking device 4 further includes a second navigation device. A plurality of cabinets 5 form a wide passage and a narrow passage for the inspection robot to walk in the machine room. The navigation belt 100 is arranged on the ground of the narrow passage. The second navigation device is used to navigate the inspection robot when passing through the wide passage, and the first navigation device 41 is used to navigate the inspection robot when passing through the narrow passage. The second navigation device may include a slam navigation device, such as Figure 2 As shown, in the computer room inspection system, the inspection robot can use the second navigation device to pass through the wide passage near the first cabinet array 51, and use the first navigation device to pass through the narrow passage near the second cabinet array 52. ​​When passing through the wide passage near the third cabinet array 53, it can switch back to the second navigation device to navigate.

[0059] In some embodiments, a machine room inspection method using any of the machine room inspection systems is also disclosed, the machine room inspection method comprising: when the inspection robot passes through a wide passage, the second navigation device is used for navigation, and when the second navigation device navigates the inspection robot to an area where the first navigation device can identify the navigation belt 100, the inspection robot switches to using the first navigation device and the navigation belt to navigate the inspection robot. The second navigation device, such as a slam navigation device, can identify the area where the navigation belt 100 is set within its navigation accuracy range and can navigate the inspection robot to an area where the first navigation device can identify the navigation belt 100. After the second navigation device navigates the inspection robot to the area, the first navigation device is turned on and cooperates with the navigation belt to navigate the inspection robot, and the second navigation device is turned off. The first navigation device cooperates with the navigation belt to navigate the inspection robot when it passes through a narrow passage. When the first navigation device identifies the first navigation end identification point set on the navigation belt, the inspection robot switches to using the second navigation device for navigation and turns off the first navigation device. The first navigation end identification point is an identification point set on the navigation belt, which represents the inspection robot's end of navigation using the first navigation device and the identification point at which it is about to switch to navigation using the second navigation device. The first navigation end identification point can be set to the third identification point 130 mentioned above, for example.

[0060] In some embodiments, the control device described above can be a general-purpose processor, a programmable logic controller (PLC), 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, discrete hardware components, or any appropriate combination thereof for performing the functions described in the present invention.

[0061] The present invention is illustrated below with a specific embodiment:

[0062] like Figures 2 to 4As shown, the walking navigation system includes an inspection robot and a navigation belt 100. The inspection robot inspects the cabinets 5 in the machine room. The inspection robot is provided with a first navigation device and a second navigation device. The second navigation device includes a slam navigation device. Multiple cabinets 5 form a wide channel and a narrow channel for the inspection robot to walk in the machine room. The navigation belt 100 is arranged on the ground of the narrow channel. The second navigation device is used for the inspection robot to navigate when passing through the wide channel near the first cabinet array 51 and the wide channel near the third cabinet array 53. The first navigation device 41 is used for navigation when passing through the narrow channel near the second cabinet array 52. ​​The navigation belt 100 includes a first guide bar 1, a second guide bar 2, and a third guide bar 3 arranged in parallel. The second guide bar 2 is arranged between the first guide bar 1 and the third guide bar 3. The first guide bar 1 is provided with a first strip area 11 having a first reflectivity for light, the second guide bar 2 is provided with a second strip area 21 having a second reflectivity for light, and the third guide bar 3 is provided with a third strip area 31 having a first reflectivity for light. The first reflectivity is much greater than the second reflectivity. The first strip area 11, the second strip area 21 and the third strip area 31 all extend in a straight line direction. A plurality of identification points are provided on the navigation strip 100. Corresponding to each identification point, a first identification area 12, a second identification area 22 and a third identification area 32 are provided on the first guide bar 1, the second guide bar 2 and the third guide bar 3, respectively. The plurality of identification points include a first identification point 110, a plurality of second identification points 120 and a third identification point 130 arranged along the extension direction of the first guide bar 1. The first guide bar 1 is provided with a plurality of first strip areas 11 and a plurality of first identification areas 12 alternately arranged along its extension direction, the second guide bar 2 is provided with a plurality of second strip areas 21 and a plurality of second identification areas 22 alternately arranged along its extension direction, and the third guide bar 3 is provided with a plurality of third strip areas 31 and a plurality of third identification areas 32 alternately arranged along its extension direction. The first identification area 12, the second identification area 22 and the third identification area 32 corresponding to each identification point are all located on the same straight line perpendicular to the extension direction of the first guide bar 1.

[0063] The inspection robot uses slam navigation when inspecting regular channels, and first uses slam navigation when passing through a wide channel near the first cabinet array 51. When the inspection robot passes through a narrow channel and the slam navigation detects the navigation belt 100, the first navigation device 41 starts working, the transmitter 411 emits infrared rays, and the receiver 412 receives the reflected light reflected by the navigation belt 100. The control device determines the midpoint of the navigation belt 100 along the width direction according to the reception and detection results of the receiver 412, and controls and adjusts the posture of the inspection robot according to the midpoint so that the inspection robot is aligned with the midpoint and the second guide strip 2 faces the inspection robot. The first navigation device 41 is used for navigation when passing through a narrow channel near the second cabinet array 52 and when passing through a wide channel near the third cabinet array 53. The first navigation device 41 is used for navigation when passing through a narrow channel near the second cabinet array 52. ​​When the inspection robot walks along the navigation belt 100, as shown in FIG. Figure 4A shown is the signal result of the reflected light of the first guide bar detected by the receiver 412, B is the signal result of the reflected light of the second guide bar detected by the receiver 412, and C is the signal result of the reflected light of the third guide bar detected by the receiver 412. When the signal results of the reflected light of the first guide bar, the second guide bar and the third guide bar detected by the receiver 412 are "high high high", that is, the strip area of ​​the first guide bar at the current identification point is a high reflectivity strip area, the strip area of ​​the second guide bar at the current identification point is a high reflectivity strip area, and the strip area of ​​the third guide bar at the current identification point is a high reflectivity strip area, the first guide bar reflects the reflected light of high light intensity value to the receiver 412, the second guide bar reflects the reflected light of high light intensity value to the receiver 412, and the third guide bar reflects the reflected light of high light intensity value to the receiver 412, the control device determines that the first identification point is detected, that is, the starting point of the narrow channel, and the inspection robot continues to move along the navigation belt 100. Walking, when the signal result of "low high low" is detected, that is, the strip area of ​​the first guide bar of the current identification point is a strip area with low reflectivity, the strip area of ​​the second guide bar of the current identification point is a strip area with high reflectivity, and the strip area of ​​the third guide bar of the current identification point is a strip area with low reflectivity, the first guide bar reflects the reflected light of low light intensity value to the receiver 412, the second guide bar reflects the reflected light of high light intensity value to the receiver 412, and the third guide bar reflects the reflected light of low light intensity value to the receiver 412, the control device determines that the second identification point is detected, that is, the inspection point, the inspection robot stays there for a period of time, and uses its own image recognition system, environmental monitoring system and other inspection systems to inspect the cabinet. After the detection is completed, the inspection robot continues to walk along the navigation belt 100. When the next inspection point is detected, the inspection robot continues to stay and inspect, and then continues to walk until the signal result of "low, low, low" is detected, that is, the strip area of ​​the first guide bar of the current identification point is a strip area with low reflectivity, the strip area of ​​the second guide bar of the current identification point is a strip area with low reflectivity, and the strip area of ​​the third guide bar of the current identification point is a strip area with low reflectivity. The first guide bar reflects reflected light with low light intensity value to the receiver 412, the second guide bar reflects reflected light with low light intensity value to the receiver 412, and the third guide bar reflects reflected light with low light intensity value to the receiver 412. The control device determines that the third identification point is detected, that is, the end point of the narrow channel. At this time, the inspection robot passes through the narrow channel, turns off the second navigation device, and continues to use slam navigation to walk.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A walking navigation system, characterized in that: include: The walking device (4) comprises: A powered walking system, used to drive the walking device (4) to walk; A first navigation device (41) comprising a transmitter (411) for transmitting light and a receiver (412) for receiving and detecting reflected light; A control device, connected to the power travel system and the first navigation device (41) by signals; A navigation belt (100) for cooperating with the first navigation device (41) to guide the walking device (4) to walk, comprising a first guide strip (1) and a second guide strip (2), wherein the first guide strip (1) is provided with a first strip area (11) having a first reflectivity for the light, and the second guide strip (2) is provided with a second strip area (21) having a second reflectivity for the light, and the navigation belt (100) is provided with at least one identification point, and corresponding to each identification point, the first guide strip (1) and the second guide strip (2) are respectively provided with a first identification area (12) and a second identification area (22), wherein the first identification area (12) and the first strip area (11) have different reflectivity for the light, and / or the second identification area (22) and the second strip area (21) have different reflectivity for the light; The control device is configured to control the power walking system to drive the walking device (4) to walk according to the result of the receiver (412) receiving and detecting the reflected light of the first guide bar (1) and the reflected light of the second guide bar (2).

2. The walking navigation system according to claim 1, characterized in that: The first guide strip (1) is provided with a plurality of first strip-shaped areas (11) and a plurality of first identification areas (12) arranged alternately along its extension direction, and the second guide strip (2) is provided with a plurality of second strip-shaped areas (21) and a plurality of second identification areas (22) arranged alternately along its extension direction.

3. The walking navigation system according to claim 1 or 2, characterized in that: The first guide strip (1) and the second guide strip (2) are arranged in parallel.

4. The walking navigation system according to claim 3, characterized in that: The first strip-shaped area (11) and the second strip-shaped area (21) both extend in a straight line direction.

5. The walking navigation system according to claim 3, characterized in that: The navigation strip (100) further comprises a third guide strip (3) in the shape of a strip, the third guide strip (3) being provided with a third strip region (31) having a first reflectivity for the light, and the second guide strip (2) being provided between the first guide strip (1) and the third guide strip (3).

6. The walking navigation system according to claim 5, characterized in that: The navigation belt (100) is provided with a plurality of identification points, and corresponding to each identification point, the third guide strip (3) is provided with a third identification area (32), wherein the third identification area (32) and the third strip area (31) have different reflectivity to the light.

7. The walking navigation system according to claim 6, characterized in that: The first guide strip (1) is provided with a plurality of the first strip-shaped areas (11) and a plurality of the first identification areas (12) arranged alternately along its extension direction; the second guide strip (2) is provided with a plurality of the second strip-shaped areas (21) and a plurality of the second identification areas (22) arranged alternately along its extension direction; the third guide strip (3) is provided with a plurality of the third strip-shaped areas (31) and a plurality of the third identification areas (32) arranged alternately along its extension direction; and the first identification area (12), the second identification area (22) and the third identification area (32) corresponding to each identification point are all located on the same straight line perpendicular to the extension direction of the first guide strip (1).

8. The walking navigation system according to claim 7, characterized in that: The first reflectivity is greater than the second reflectivity, and the plurality of identification points include a first identification point (110), a plurality of second identification points (120), and a third identification point (130) arranged along the extension direction of the first guide strip (1); at the first identification point (110), the reflectivity of the first identification area (12) to the light is the first reflectivity, the reflectivity of the second identification area (22) to the light is the first reflectivity, and the reflectivity of the third identification area (32) to the light is the first reflectivity; at the second identification point (120), the reflectivity of the first identification area (12) to the light is the second reflectivity, the reflectivity of the second identification area (22) to the light is the first reflectivity, and the reflectivity of the third identification area (32) to the light is the second reflectivity; at the third identification point (130), the reflectivity of the first identification area (12) to the light is the second reflectivity, the reflectivity of the second identification area (22) to the light is the second reflectivity, and the reflectivity of the third identification area (32) to the light is the second reflectivity.

9. The walking navigation system according to claim 3, characterized in that: The navigation belt (100) is arranged on the ground on which the walking device (4) walks.

10. A machine room inspection system, characterized in that: It comprises a walking navigation system as claimed in any one of claims 1 to 9, wherein the walking device (4) is an inspection robot for inspecting a plurality of cabinets (5) located in a machine room.

11. A machine room inspection system, characterized in that: The invention comprises a walking navigation system, wherein the walking navigation system comprises a walking device (4), wherein the walking device (4) is an inspection robot for inspecting a plurality of cabinets (5) located in a machine room, wherein the walking device (4) comprises a power walking system, a first navigation device (41), a control device and a navigation belt (100), wherein the power walking system is used to drive the walking device (4) to walk, wherein the first navigation device (41) comprises a transmitter (411) for emitting light and a receiver (412) for receiving and detecting reflected light, wherein the control device is connected to the power walking system and the first navigation device (41) by signals, wherein the navigation belt (100) is used to cooperate with the first navigation device (41) to guide the walking device (4) to walk, wherein the navigation belt (100) comprises a first guide bar (1) and a second guide bar (2), wherein the first guide bar (1) is provided with a guide bar for guiding the walking device (4) to walk. The light has a first strip area (11) with a first reflectivity, and the second guide strip (2) is provided with a second strip area (21) with a second reflectivity for the light, wherein the control device is configured to: control the power walking system to drive the walking device (4) to walk according to the result of the receiver (412) receiving and detecting the reflected light of the light by the first guide strip (1) and the reflected light of the light by the second guide strip (2), the walking device (4) also including a second navigation device, the multiple cabinets (5) form a wide channel and a narrow channel for the inspection robot to walk in the machine room, the navigation belt (100) is arranged on the ground of the narrow channel, the second navigation device is used to navigate the inspection robot when it passes through the wide channel, and the first navigation device (41) is used to navigate the inspection robot when it passes through the narrow channel.

12. The machine room inspection system according to claim 11, characterized in that: The second navigation device comprises a slam navigation device.

13. A method for inspecting a machine room, characterized in that: The computer room inspection system as described in claim 11 or 12 is applied, and the computer room inspection method includes: when the inspection robot passes through the wide passage, the inspection robot uses the second navigation device to navigate; when the second navigation device navigates the inspection robot to an area where the first navigation device can identify the navigation belt (100), the inspection robot switches to using the first navigation device and the navigation belt to navigate the inspection robot; when the first navigation device identifies a first navigation end identification point provided on the navigation belt (100), the inspection robot switches to using the second navigation device to navigate.

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