A positioning method, device and storage medium for an inspection robot

Abstract

The present invention discloses a positioning method for an inspection robot, the method comprising: obtaining the inspection task of the inspection robot in response to obtaining a position loss signal emitted by the inspection robot; determining a first inspection point and a second inspection point adjacent to the inspection robot according to a historical inspection image emitted by the inspection robot; obtaining a plurality of candidate position points; and matching the laser point cloud data emitted by the inspection robot with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot. The technical solution of the embodiment of the present invention ensures that after the position information of the inspection robot is lost due to obstacles or slipping, timely positioning is achieved through the laser point cloud data emitted by the inspection robot, thereby improving the positioning efficiency and the accuracy of obtaining the position.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a positioning method, device, and storage medium for an inspection robot. Background Art

[0002] With the rapid development of robot technology, various intelligent robots are widely used in industrial production, and among them, the inspection robot for performing inspection tasks has become an important part of industrial robots.

[0003] Inspection means taking turns to detect each device of a certain production process. Taking the inspection task in a substation as an example, the inspection robot needs to inspect multiple power equipment such as capacitor banks and reactor banks. When the inspection robot patrols in the site, it often loses its current position and moving direction due to roadblocks or slipping, resulting in the inspection robot being unable to return to the starting point and unable to continue performing the inspection task. At this time, only on-site positioning by staff is possible. The above positioning method requires high labor costs and time costs, and has low positioning efficiency and poor positioning effect. Summary of the Invention

[0004] The present invention provides a positioning method, device, electronic device, and storage medium for an inspection robot to solve the problem that the inspection robot cannot be positioned after encountering obstacles or slipping.

[0005] On the one hand, the present invention provides a positioning method for an inspection robot, which is applied to a server and includes:

[0006] In response to obtaining a position loss signal sent by the inspection robot, obtain the inspection task of the inspection robot; wherein, the inspection task includes multiple inspection points;

[0007] Determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot;

[0008] Obtain multiple alternative position points according to the first inspection point and the second inspection point;

[0009] Compare the laser point cloud data sent by the inspection robot with the standard laser point cloud data of each alternative position point to determine the position of the inspection robot.

[0010] On the other hand, the present invention provides a positioning method for an inspection robot, including:

[0011] Obtain the inspection task sent by the server; wherein, the inspection task includes multiple inspection points, the body rotation angle at each inspection point, the moving distance between adjacent inspection points, and the standard laser point cloud data of each moving position point;

[0012] According to the rotation angle of the machine body at each inspection point and the moving distance between adjacent inspection points, the machine moves to each inspection point in turn to send the inspection image of each inspection point to the server, and adjusts the moving direction according to the matching comparison result of the real-time laser point cloud data of each moving position point and the corresponding standard laser point cloud data;

[0013] If the matching degree comparison result of the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold, a position loss signal is sent to the server.

[0014] Another aspect of the present invention provides a positioning device for an inspection robot, which is applied to a server and includes:

[0015] A position loss signal acquisition module, used for acquiring the inspection task of the inspection robot in response to acquiring the position loss signal sent by the inspection robot; wherein the inspection task includes a plurality of inspection points;

[0016] An adjacent inspection point acquisition module, used to determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot;

[0017] A candidate location point acquisition module, used to acquire multiple candidate location points according to the first inspection point and the second inspection point;

[0018] The position acquisition module is used to compare the laser point cloud data emitted by the inspection robot with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot.

[0019] Another aspect of the present invention provides a positioning device for an inspection robot, which is applied to the inspection robot and includes:

[0020] An inspection task acquisition module is used to acquire the inspection task issued by the server; wherein the inspection task includes multiple inspection points, the body rotation angle at each inspection point, the moving distance between adjacent inspection points, and the standard laser point cloud data of each moving position point;

[0021] The inspection execution module is used to move to each of the inspection points in sequence according to the rotation angle of the machine body at each of the inspection points and the moving distance between adjacent inspection points, so as to send the inspection image of each of the inspection points to the server, and adjust the moving direction according to the matching comparison result of the real-time laser point cloud data of each of the moving position points and the corresponding standard laser point cloud data;

[0022] The position loss signal sending module is used to send a position loss signal to the server if the matching degree comparison result of the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold.

[0023] Another aspect of the present invention provides an electronic device, the electronic device comprising:

[0024] at least one processor; and

[0025] a memory communicatively connected to the at least one processor; wherein,

[0026] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the inspection robot described in any embodiment of the present invention.

[0027] Another aspect of the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the positioning method of the inspection robot described in any embodiment of the present invention when executed.

[0028] The technical solution of the embodiment of the present invention, when a position loss signal emitted by the inspection robot is obtained, the first inspection point and the second inspection point adjacent to the inspection robot are determined, and multiple candidate position points are obtained, and then the laser point cloud data emitted by the inspection robot are compared with the standard laser point cloud data for matching degree to determine the position of the inspection robot, ensuring that after the position information of the inspection robot is lost due to obstruction or slipping, timely positioning is achieved through the laser point cloud data emitted by the inspection robot, thereby improving positioning efficiency, reducing the manpower and time costs occupied by positioning, and improving the accuracy of obtaining the position.

[0029] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1A is a flow chart of a positioning method for an inspection robot provided in Embodiment 1 of the present invention;

[0032] Figure 1B This is a schematic diagram of a scene of an inspection task provided in the first embodiment of the present invention;

[0033] Figure 2 is a flow chart of a positioning method for an inspection robot provided in Embodiment 2 of the present invention;

[0034] Figure 3 is a flow chart of a positioning method for an inspection robot provided in Embodiment 3 of the present invention;

[0035] Figure 4 It is a structural schematic diagram of a positioning device of an inspection robot provided in a fourth embodiment of the present invention;

[0036] Figure 5 It is a structural schematic diagram of a positioning device of an inspection robot provided in Embodiment 5 of the present invention;

[0037] Figure 6 It is a structural schematic diagram of an electronic device for implementing the positioning method of the inspection robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] Embodiment 1

[0041] Figure 1AThis is a flowchart of a positioning method for a patrol robot provided in the first embodiment of the present invention. This embodiment can be applied to determine the position of the patrol robot according to the laser point cloud data emitted by the patrol robot. The method can be executed by the positioning device of the patrol robot. The positioning device of the patrol robot can be implemented in the form of hardware and / or software. The positioning device of the patrol robot can be configured in a server. Figure 1A As shown, the method includes:

[0042] S101. In response to obtaining a position loss signal emitted by an inspection robot, obtaining an inspection task of the inspection robot; wherein the inspection task includes a plurality of inspection points.

[0043] Inspection points are working points that the inspection robot needs to reach. At each inspection point, the inspection robot needs to inspect the on-site equipment and send the inspection image of the point to the server to ensure the effective operation of the on-site equipment. Since the inspection robot itself does not have a positioning function, the inspection task sent by the server to the inspection robot includes not only the location information of each inspection point that the inspection robot needs to reach in turn, but also the moving distance between adjacent inspection points and the body rotation angle at each inspection point.

[0044] like Figure 1B As shown, the inspection robot adjusts its body posture according to the body rotation angle at each inspection point, and moves to the next inspection point according to the moving distance between the current inspection point and the next inspection point; wherein, the inspection robot calculates the moving distance according to the number of rotations of the wheels (i.e., wheeled inspection robot) or the tracks (i.e., tracked inspection robot), and when the inspection robot arrives at each inspection point, it captures and reports the inspection image, thereby realizing the inspection function; obviously, if the current inspection point is not a trajectory turning point (for example, inspection point A and inspection point B), the body rotation angle is 0 at this time, that is, the body rotation angle does not need to be changed when moving from the current inspection point to the next inspection point; if the current inspection point is a trajectory turning point (for example, inspection point C and inspection point D), the body rotation angle is not 0 at this time, and the inspection robot needs to complete the posture adjustment at the current inspection point first, and then move to the next inspection point after the posture adjustment is completed.

[0045] The inspection tasks sent by the server to the inspection robot also include standard laser point cloud data of each mobile position point; wherein the mobile position point is the position point corresponding to the inspection robot at each trajectory control moment, for example, the inspection robot is controlled to reach a mobile position point every 10 milliseconds; the laser point cloud data is a set of point data obtained by the laser radar, which represents the position information and reflection intensity information obtained based on the laser radar; the standard laser point cloud data can be obtained based on the historical point cloud data of the inspection robot.

[0046] At each moving position, the inspection robot will compare the currently acquired real-time laser point cloud data with the standard laser point cloud data of the moving position. If the comparison result is less than the second preset threshold, that is, the matching degree is low, it is determined that the calculated moving distance of the inspection robot is greater than the actual moving distance (that is, the actual position of the inspection robot lags behind the calculated position) due to obstacles or slippage. At this time, the inspection robot sends a position loss signal to the server, and the inspection robot itself stops moving. After the server obtains the position loss signal sent by the inspection robot, it obtains the inspection task that matches the inspection robot, thereby obtaining each inspection point in the inspection task.

[0047] S102: Determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot.

[0048] Since the inspection robot will send out inspection images at each inspection point, the inspection points that have been passed can be determined based on the historical inspection images it has sent out. Then, based on the inspection order of each inspection point in the inspection task, the first inspection point that the inspection robot has passed most recently and the second inspection point that it is about to pass according to the inspection order can be determined.

[0049] S103: Acquire multiple candidate location points according to the first inspection point and the second inspection point.

[0050] According to the above technical solution, it has been determined that the inspection robot is located between the first inspection point and the second inspection point. At this time, N mobile position points can be obtained at equal intervals in each mobile position point between the first inspection point and the second inspection point (where N is greater than or equal to 1, and the specific value of N can be set as needed), and the first inspection point, the second inspection point and the above N mobile position points together constitute the alternative position points.

[0051] S104: performing a matching comparison between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of each candidate position point to determine the position of the inspection robot.

[0052] The laser point cloud data of the current position emitted by the inspection robot is compared with the standard laser point cloud data of each alternative position point, and the alternative position point with the highest matching degree in the comparison result is used as the position of the inspection robot; at the same time, the coordinate information of the inspection robot's position can be obtained based on the coordinate information of the above two inspection points and the moving distance between the above two inspection points (i.e., the straight-line distance), thereby realizing the positioning of the inspection robot.

[0053] Optionally, in an embodiment of the present invention, the laser point cloud data emitted by the inspection robot is compared with the standard laser point cloud data of each of the alternative position points for a matching degree to determine the position of the inspection robot, including: if the matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the target alternative position point is greater than or equal to a first preset threshold, the target alternative position point is taken as the location of the inspection robot; and / or if the matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of each of the alternative position points is less than the first preset threshold, it is determined that the position of the inspection robot has been lost.

[0054] Specifically, during the movement of the inspection robot, the inspection robot may seriously deviate from the inspection trajectory due to obstacles and slippage; therefore, if the matching degree of the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of each alternative position point is less than the first preset threshold, it indicates that the current position of the inspection robot does not match any of the alternative position points, and the inspection robot trajectory deviates seriously, thereby determining that the position of the inspection robot has been lost; if the matching degree of the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the target alternative position point is greater than or equal to the first preset threshold, it indicates that the current position of the inspection robot matches the target alternative position point, thereby the target alternative position point is the current location of the inspection robot; by comparing the matching degree comparison result with the first preset threshold, it is avoided that the current position is mistakenly detected as a position point in the inspection trajectory when the inspection robot seriously deviates from the inspection trajectory, thereby ensuring the driving safety of the inspection robot and improving the positioning accuracy of the inspection robot.

[0055] Optionally, in an embodiment of the present invention, the laser point cloud data emitted by the inspection robot is compared with the standard laser point cloud data of each of the alternative position points for matching degree to determine the position of the inspection robot, and also includes: obtaining laser point cloud sub-data in multiple detection directions based on the laser point cloud data emitted by the inspection robot; matching degree comparison of each of the laser point cloud sub-data with the standard laser point cloud sub-data of the same detection direction in each of the alternative position points; if the maximum matching degree between the laser point cloud sub-data emitted by the inspection robot and the standard laser point cloud sub-data of the same detection direction in the target alternative position point is greater than or equal to a first preset threshold, the target alternative position point is used as the location of the inspection robot.

[0056] Specifically, due to the different sizes and positions of obstacles, the laser point cloud data at the same position is often different under different obstacles, but obstacles usually only appear in one or a limited number of directions of the inspection robot, and there are no obstacles in other directions. Therefore, the above-mentioned point cloud data obtained are split according to the detection direction; wherein the detection direction may include four point cloud directions of east, west, south, and north, or may include eight point cloud directions of east, south, west, north, southeast, northeast, southwest, and northwest; the laser point cloud data at the current position is compared with the standard laser point cloud data of the same detection direction at the alternative position point for matching degree If the maximum matching degree is greater than or equal to the first preset threshold value, it can be determined that in at least one detection direction, the current position of the inspection robot has a high matching degree with the alternative position point, thereby determining that the inspection robot is located at the alternative position point; by comparing the matching degree of the laser point cloud data of the current position with the standard laser point cloud data of the same detection direction in the alternative position point, the inconsistent matching degree comparison results caused by obstacles are avoided, ensuring that when various obstacles appear in the inspection track, the accurate position of the inspection robot can be determined by the laser point cloud data in one or more directions, further improving the positioning accuracy of the inspection robot.

[0057] The technical solution of the embodiment of the present invention, when a position loss signal emitted by the inspection robot is obtained, the first inspection point and the second inspection point adjacent to the inspection robot are determined, and multiple candidate position points are obtained, and then the laser point cloud data emitted by the inspection robot are compared with the standard laser point cloud data for matching degree to determine the position of the inspection robot, ensuring that after the position information of the inspection robot is lost due to obstruction or slipping, timely positioning can be achieved through the laser point cloud data emitted by the inspection robot, thereby improving positioning efficiency, reducing the manpower and time costs occupied by positioning, and improving the accuracy of obtaining the position.

[0058] Embodiment 2

[0059] Figure 2 This is a flow chart of a positioning method for a patrol robot provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment obtains the laser point cloud data emitted by the patrol robot again after a first preset time. Figure 2 As shown, the method includes:

[0060] S201. In response to obtaining a position loss signal sent by an inspection robot, obtaining an inspection task of the inspection robot; wherein the inspection task includes multiple inspection points.

[0061] S202: Determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot.

[0062] S203: Acquire multiple candidate location points according to the first inspection point and the second inspection point.

[0063] S204: Acquire laser point cloud data in multiple detection directions according to the laser point cloud data emitted by the inspection robot.

[0064] S205 , performing a matching comparison on each of the laser point cloud data and the standard laser point cloud data of the same detection direction in each of the candidate positions.

[0065] S206: If the maximum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold, the target candidate position point is used as the location of the inspection robot.

[0066] S207. After a first preset time, the laser point cloud data emitted by the inspection robot is acquired again, and laser point cloud data in multiple detection directions are acquired based on the laser point cloud data acquired again.

[0067] S208, comparing the laser point cloud data obtained again with the standard laser point cloud data of the same detection direction in the target candidate position point for matching degree.

[0068] S209. If the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold, the inspection task is updated according to the location of the inspection robot so that the inspection robot executes the updated inspection task.

[0069] The inspection robot may lose its position due to slipping or moving obstacles such as walking people and cars. After a period of time, the above obstacles may have moved away. Therefore, after the location of the inspection robot has been determined, if the laser point cloud data emitted by the inspection robot has a minimum matching degree with the standard laser point cloud data in the same detection direction in the target candidate position, it is greater than or equal to a first preset threshold, indicating that in each detection direction, the laser point cloud data of the current position of the inspection robot matches the standard laser point cloud data, and it also indicates that there are no obstacles near the current position of the inspection robot. Therefore, according to the location of the inspection robot, the inspection trajectory from this position to the next inspection point is updated, and combined with the inspection trajectory between the remaining inspection points in the original inspection task, a new inspection task is obtained, and the updated inspection task is continued to be completed by the inspection robot.

[0070] S210. If the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is less than a first preset threshold, a return task is constructed according to the location of the inspection robot to enable the inspection robot to return to the starting point of the inspection task.

[0071] The inspection robot may also lose its position due to fixed obstacles such as fallen parts, and the above obstacles may still be in the original position after a period of time; therefore, after the location of the inspection robot has been determined, if the minimum matching degree of the laser point cloud data emitted by the inspection robot and the standard laser point cloud data in the same detection direction in the target candidate position point is less than or equal to the first preset threshold, it indicates that in at least one detection direction, the laser point cloud data of the current position of the inspection robot does not match the standard laser point cloud data, which also indicates that there is an obstacle near the current position of the inspection robot; since the inspection robot can pass normally in the inspection trajectory that has been passed, if it is determined that there is an obstacle near the current position of the inspection robot, then the obstacle must appear in the future inspection trajectory of the inspection robot or on both sides of the trajectory. Therefore, according to the location of the inspection robot, a return task is constructed to enable the inspection robot to return to the starting point of the inspection task to ensure the driving safety of the inspection robot; wherein, the charging pile can be used as the starting point and end point of each inspection task.

[0072] The technical solution of the embodiment of the present invention is that after the target candidate position point is used as the location of the inspection robot, after a first preset time, the laser point cloud data emitted by the inspection robot is obtained again; if the minimum matching degree of the current laser point cloud data with the standard laser point cloud data is greater than or equal to a first preset threshold, the inspection robot executes the updated inspection task, thereby ensuring the continued execution of the inspection task after the obstacle moves and improving the fault tolerance of the inspection task execution; if the minimum matching degree of the current laser point cloud data with the standard laser point cloud data is less than the first preset threshold, the inspection robot executes the return task, thereby ensuring the driving safety of the inspection robot.

[0073] Embodiment 3

[0074] Figure 3 This is a flowchart of a positioning method for a patrol robot provided in the third embodiment of the present invention. This embodiment can be applied to the patrol robot to determine whether there is a position loss phenomenon based on the matching results of the real-time laser point cloud data and the standard laser point cloud data. The method can be executed by the positioning device of the patrol robot. The positioning device of the patrol robot can be implemented in the form of hardware and / or software. The positioning device of the patrol robot can be configured in an electronic device, and the electronic device is installed in the patrol robot. Figure 3 As shown, the method includes:

[0075] S301, obtaining an inspection task issued by a server; wherein the inspection task includes a plurality of inspection points, a rotation angle of the machine body at each inspection point, a moving distance between adjacent inspection points, and standard laser point cloud data of each moving position point.

[0076] S302, according to the body rotation angle at each inspection point and the moving distance between adjacent inspection points, move to each inspection point in turn to send the inspection image of each inspection point to the server, and adjust the moving direction according to the matching comparison result of the real-time laser point cloud data of each moving position point and the corresponding standard laser point cloud data.

[0077] The inspection robot can determine the deflection direction of the inspection robot based on the matching comparison results of the real-time laser point cloud data and the corresponding standard laser point cloud data; for example, if the above matching comparison results continue to decrease, the body posture is adjusted to deflect to the left or right side of the driving direction, and the matching comparison results continue to be obtained. If the matching comparison results continue to decrease, it is adjusted in the opposite direction. If the matching comparison results improve, it continues to adjust in the current direction. The accuracy of the inspection trajectory is ensured by real-time correction of the matching comparison results.

[0078] S303: If the matching degree comparison result between the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold, a position loss signal is sent to the server.

[0079] The technical solution of the embodiment of the present invention, after obtaining the inspection task issued by the server, adjusts the moving direction according to the matching comparison result between the real-time laser point cloud data of each mobile position point and the corresponding standard laser point cloud data, thereby realizing real-time deviation correction based on the matching comparison result between the real-time laser point cloud data and the standard point cloud data, thereby ensuring the accuracy of the inspection trajectory. At the same time, if the matching comparison result between the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold, a position loss signal is sent to the server, thereby ensuring the timely positioning of the inspection robot and improving the driving safety of the inspection robot.

[0080] Embodiment 4

[0081] Figure 4 This is a schematic diagram of the structure of a positioning device for an inspection robot provided in Embodiment 4 of the present invention. Figure 4 As shown, the device comprises:

[0082] The position loss signal acquisition module 401 is used to acquire the inspection task of the inspection robot in response to acquiring the position loss signal sent by the inspection robot; wherein the inspection task includes multiple inspection points.

[0083] An adjacent inspection point acquisition module 402 is used to determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot;

[0084] A candidate location point acquisition module 403, configured to acquire a plurality of candidate location points according to the first inspection point and the second inspection point;

[0085] The position acquisition module 404 is used to compare the laser point cloud data emitted by the inspection robot with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot.

[0086] The technical solution of the embodiment of the present invention, when a position loss signal emitted by the inspection robot is obtained, the first inspection point and the second inspection point adjacent to the inspection robot are determined, and multiple candidate position points are obtained, and then the laser point cloud data emitted by the inspection robot are compared with the standard laser point cloud data for matching degree to determine the position of the inspection robot, ensuring that after the position information of the inspection robot is lost due to obstruction or slipping, timely positioning can be achieved through the laser point cloud data emitted by the inspection robot, thereby improving positioning efficiency, reducing the manpower and time costs occupied by positioning, and improving the accuracy of obtaining the position.

[0087] Optionally, the position acquisition module 404 is specifically used to take the target alternative position point as the location of the inspection robot if the degree of match between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the target alternative position point is greater than or equal to a first preset threshold; and / or if the degree of match between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of each of the alternative position points is less than a first preset threshold, determine that the position of the inspection robot has been lost.

[0088] Optionally, the location acquisition module 404 specifically includes:

[0089] A data acquisition unit, used for acquiring laser point cloud data in multiple detection directions according to the laser point cloud data emitted by the inspection robot;

[0090] A matching degree comparison execution unit is used to compare the matching degree of each of the laser point cloud data with the standard laser point cloud data of the same detection direction in each of the candidate position points;

[0091] The maximum matching degree acquisition unit is used to take the target candidate position point as the location of the inspection robot if the maximum matching degree of the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold.

[0092] Optionally, the sub-data acquisition unit is further configured to acquire the laser point cloud data emitted by the inspection robot again after a first preset time, and acquire laser point cloud sub-data in multiple detection directions based on the laser point cloud data acquired again;

[0093] The matching degree comparison execution unit is specifically used to compare the matching degrees of each of the laser point cloud sub-data acquired again with the standard laser point cloud sub-data of the same detection direction in the target candidate position point.

[0094] Optionally, the positioning device of the inspection robot also includes:

[0095] The inspection task execution module is updated to update the inspection task according to the location of the inspection robot if the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold, so that the inspection robot executes the updated inspection task.

[0096] Optionally, the positioning device of the inspection robot also includes:

[0097] The return task execution module is used to construct a return task according to the location of the inspection robot if the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target alternative position point is less than a first preset threshold, so as to make the inspection robot return to the starting point of the inspection task.

[0098] The positioning device for the inspection robot provided in the embodiment of the present invention can execute the positioning method for the inspection robot provided in the first or second embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0099] Embodiment 5

[0100] Figure 5 This is a schematic diagram of the structure of a positioning device for an inspection robot provided in Embodiment 5 of the present invention. Figure 5 As shown, the device comprises:

[0101] The inspection task acquisition module 501 is used to acquire the inspection task issued by the server; wherein the inspection task includes multiple inspection points, the rotation angle of the machine body at each inspection point, the moving distance between adjacent inspection points, and the standard laser point cloud data of each moving position point;

[0102] The inspection execution module 502 is used to move to each of the inspection points in sequence according to the rotation angle of the machine body at each of the inspection points and the moving distance between adjacent inspection points, so as to send the inspection image of each of the inspection points to the server, and adjust the moving direction according to the matching comparison result of the real-time laser point cloud data of each of the moving position points and the corresponding standard laser point cloud data;

[0103] The position loss signal sending module 503 is used to send a position loss signal to the server if the matching degree comparison result between the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold.

[0104] The technical solution of the embodiment of the present invention, after obtaining the inspection task issued by the server, adjusts the moving direction according to the matching comparison result between the real-time laser point cloud data of each mobile position point and the corresponding standard laser point cloud data, thereby realizing real-time deviation correction based on the matching comparison result between the real-time laser point cloud data and the standard point cloud data, thereby ensuring the accuracy of the inspection trajectory. At the same time, if the matching comparison result between the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold, a position loss signal is sent to the server, thereby ensuring the timely positioning of the inspection robot and improving the driving safety of the inspection robot.

[0105] The positioning device for the inspection robot provided in the embodiment of the present invention can execute the positioning method for the inspection robot provided in the third embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0106] Embodiment 6

[0107] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0108] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the positioning method of the inspection robot.

[0111] In some embodiments, the positioning method of the inspection robot can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning method of the inspection robot described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the positioning method of the inspection robot in any other appropriate manner (for example, by means of firmware).

[0112] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0114] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0116] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0117] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0119] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning method for an inspection robot, It is characterized in that Applicable to servers, including: In response to obtaining a position loss signal sent by the inspection robot, obtaining an inspection task of the inspection robot; wherein the inspection task includes a plurality of inspection points; Determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot; Acquire multiple candidate location points according to the first inspection point and the second inspection point; The laser point cloud data emitted by the inspection robot is compared with the standard laser point cloud data of each candidate position point for matching, so as to determine the position of the inspection robot.

2. The method according to claim 1, It is characterized in that The matching degree of the laser point cloud data emitted by the inspection robot is compared with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot, including: If the matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the target candidate position point is greater than or equal to a first preset threshold, the target candidate position point is used as the location of the inspection robot; And / or if the matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of each candidate position point is less than a first preset threshold, it is determined that the position of the inspection robot has been lost.

3. The method according to claim 2, It is characterized in that The laser point cloud data emitted by the inspection robot is compared with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot, and further includes: According to the laser point cloud data emitted by the inspection robot, obtaining laser point cloud data in multiple detection directions; Compare the laser point cloud data with the standard laser point cloud data of the same detection direction at each candidate position point for matching degree; If the maximum matching degree of the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold, the target candidate position point is used as the location of the inspection robot.

4. The method according to claim 3, It is characterized in that After the target candidate position point is used as the location of the inspection robot, the method further includes: After a first preset time, the laser point cloud data emitted by the inspection robot is acquired again, and the laser point cloud data in multiple detection directions are acquired according to the laser point cloud data acquired again; The laser point cloud data acquired again are respectively compared with the standard laser point cloud data of the same detection direction in the target candidate position point for matching degree; If the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is greater than or equal to a first preset threshold, the inspection task is updated according to the location of the inspection robot so that the inspection robot performs the updated inspection task.

5. The method according to claim 4, It is characterized in that After comparing the laser point cloud data obtained again with the standard laser point cloud data of the same detection direction in the target candidate position point for matching degree, the method further includes: If the minimum matching degree between the laser point cloud data emitted by the inspection robot and the standard laser point cloud data of the same detection direction in the target candidate position point is less than a first preset threshold, a return task is constructed according to the location of the inspection robot to enable the inspection robot to return to the starting point of the inspection task.

6. A positioning method for an inspection robot, It is characterized in that Applied to inspection robots, including: Obtaining an inspection task issued by a server; wherein the inspection task includes multiple inspection points, the body rotation angle at each inspection point, the moving distance between adjacent inspection points, and the standard laser point cloud data of each moving position point; wherein the standard laser point cloud data includes the standard laser point cloud data of at least one moving position point between each inspection point, and the adjacent inspection points and the moving position points therebetween constitute candidate position points, so that the server can issue a new inspection task or a return task to the inspection robot in response to obtaining a position loss signal issued by the inspection robot; According to the rotation angle of the machine body at each inspection point and the moving distance between adjacent inspection points, the machine moves to each inspection point in turn to send the inspection image of each inspection point to the server, and adjusts the moving direction according to the matching comparison result of the real-time laser point cloud data of each moving position point and the corresponding standard laser point cloud data; If the matching degree comparison result of the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold, a position loss signal is sent to the server; After sending a location loss signal to the server, the method further includes: Get the new inspection task issued by the server and continue to complete the updated inspection task; or Get the return task issued by the server, and return to the starting point of the inspection task according to the return task.

7. A positioning device for an inspection robot, It is characterized in that Applicable to servers, including: A position loss signal acquisition module, used for acquiring the inspection task of the inspection robot in response to acquiring the position loss signal sent by the inspection robot; wherein the inspection task includes a plurality of inspection points; An adjacent inspection point acquisition module, used to determine a first inspection point and a second inspection point adjacent to the inspection robot according to the historical inspection images sent by the inspection robot; A candidate location point acquisition module, used to acquire a plurality of candidate location points according to the first inspection point and the second inspection point; The position acquisition module is used to compare the laser point cloud data emitted by the inspection robot with the standard laser point cloud data of each candidate position point to determine the position of the inspection robot.

8. A positioning device for an inspection robot, It is characterized in that Applied to inspection robots, including: An inspection task acquisition module is used to acquire an inspection task issued by a server; wherein the inspection task includes multiple inspection points, the body rotation angle at each inspection point, the moving distance between adjacent inspection points, and the standard laser point cloud data of each moving position point; wherein the standard laser point cloud data includes the standard laser point cloud data of at least one moving position point between each inspection point, and the adjacent inspection points and the moving position points therebetween constitute candidate position points, so that the server can issue a new inspection task or a return task to the inspection robot in response to acquiring a position loss signal issued by the inspection robot; The inspection execution module is used to move to each of the inspection points in sequence according to the rotation angle of the machine body at each of the inspection points and the moving distance between adjacent inspection points, so as to send the inspection image of each of the inspection points to the server, and adjust the moving direction according to the matching comparison result of the real-time laser point cloud data of each of the moving position points and the corresponding standard laser point cloud data; A position loss signal sending module, configured to send a position loss signal to the server if a matching comparison result between the real-time laser point cloud data of the current mobile position point and the corresponding standard laser point cloud data is less than a second preset threshold; Wherein, the position loss signal sending module also includes: An updating unit, configured to obtain a new inspection task issued by the server after sending a position loss signal to the server, and continue to complete the updated inspection task; or The return unit is used to obtain a return task issued by the server after sending a position loss signal to the server, and return to the starting point of the inspection task according to the return task.

9. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the inspection robot described in any one of claims 1-5, or execute the positioning method of the inspection robot described in claim 6.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning method of the inspection robot described in any one of claims 1 to 5, or to execute the positioning method of the inspection robot described in claim 6 when executed.

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