A track robot and its real-time positioning system

Abstract

The present invention discloses a rail robot and a real-time positioning system thereof, wherein the rail robot comprises a robot body and a light-shielding sleeve arranged on the robot body, the light-shielding sleeve is axially slidably arranged on the robot body, a color sensor is fixedly installed in the light-shielding sleeve, an elastic member is arranged at the first end of the light-shielding sleeve, the second end of the light-shielding sleeve is tightly pressed against the rail through the elastic member, and the color sensor is used to collect color information on the rail at the real-time position of the rail robot and color information at the starting position. The rail robot positioning method of the present invention is more accurate and more convenient, and the positioning effect can be achieved by starting at any position. In addition, through the effects of the elastic member and the light-shielding sleeve arranged on the color sensor, the collection effect of the color sensor is better, the influence of the external environment is avoided, and the accuracy is higher.

Description

Technical Field

[0001] The invention belongs to the field of rail robots, and in particular relates to a rail robot and a real-time positioning system thereof. Background Art

[0002] Track robots are used to collect characteristic information or operate equipment and devices. During operation, track robots must know their exact position so that they can determine the position of the equipment or device according to the corresponding position and perform corresponding operations. The positioning of existing track robots is generally based on the motion mechanism of the track robot to realize the motion distance calculation. The robot records the motor rotation angle in the running structure according to the servo motor encoder, and then calculates the current position in combination with the wheel diameter.

[0003] The existing track robots often have wheels slipping or getting stuck in the motion mechanism during the track walking process, so the robot position calculated by the encoder will be deviated. In addition, the track robot in the prior art cannot determine its own position on the track when it is started at any position in the track, so it often sets a positioning auxiliary mark to assist in positioning. However, the positioning auxiliary marks are not everywhere, but are set at a certain distance. Therefore, when the track robot cannot know its own position on the track, it must move past a positioning auxiliary mark to determine its own position. This method has poor positioning capability. Summary of the invention

[0004] In response to the above problems, the technical solution adopted by the present invention is: a track robot, comprising a robot body and a light-shielding sleeve arranged on the robot body, the light-shielding sleeve is axially slidably arranged on the robot body, a color sensor is fixedly installed in the light-shielding sleeve, an elastic member is provided at the first end of the light-shielding sleeve, and the second end of the light-shielding sleeve is tightly pressed against the track through the elastic member, and the color sensor is used to collect color information on the track at the real-time position of the track robot and the color information at the starting position.

[0005] Optionally, a microcontroller is fixedly mounted on the track robot, and the microcontroller is used to obtain color information at a real-time position and a starting position, and calculate the real-time position of the track robot.

[0006] Optionally, a rubber sleeve is fixedly mounted on the second end of the light-shielding sleeve that abuts against the track.

[0007] Optionally, a guide groove for the shading sleeve to slide axially is provided on the robot body, a limit block is fixedly installed on the first end of the shading sleeve, and a limit groove cooperating with the limit block is provided on the side wall of the guide groove.

[0008] Optionally, the robot body includes a chassis and a motion mechanism fixed above the chassis, a shell is fixedly installed on one side of the motion mechanism close to the side of the track, the color sensor is arranged in the shell, and the second end of the color sensor passes through the shell and abuts against the side wall of the track.

[0009] Optionally, an acceleration sensor is fixedly mounted on the robot body, and the acceleration sensor is used to periodically collect the acceleration of the track robot;

[0010] The microcontroller is also used to obtain the acceleration collected by the acceleration sensor, and calculate the current speed of the track robot based on the acceleration, calculate the predicted position information at any time in the next cycle through the current speed and the real-time position of the track robot, and control the speed of the track robot based on the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information.

[0011] And, a real-time positioning system for a track robot, the positioning system comprising a track robot and color blocks arranged on a track in a preset pattern;

[0012] The track robot comprises a robot body and a light-shielding sleeve arranged on the robot body, the light-shielding sleeve is axially slidably arranged on the robot body, a color sensor is fixedly installed in the light-shielding sleeve, an elastic member is arranged at the first end of the light-shielding sleeve, and the second end of the light-shielding sleeve is tightly pressed against the color block through the elastic member, and the color sensor is used to collect color information on the color block at the real-time position of the track robot and the color information on the color block at the starting position;

[0013] A microcontroller is fixedly mounted on the track robot, and the microcontroller is used to obtain color information at a real-time position and a starting position, and calculate the real-time position of the track robot.

[0014] Optionally, the color information is the brightness value information of each color channel on the color block, and each color block is provided with n color channels, where n is a positive integer, and when n is greater than 1, the n color channels are respectively the first color channel to the nth color channel from low to high.

[0015] Optionally, the preset rule is:

[0016] The brightness value of each color channel is gradually increased or decreased with a predetermined color change step length m, where m is a positive integer greater than 1;

[0017] When n is greater than 1 and the brightness value of the color channel is increasing, the brightness value of the color channel at the lower position increases by a predetermined color change step m. When the brightness value reaches the end of the cycle, the brightness value of the color channel at the higher position increases by a predetermined color change step m, and the brightness value of the color channel at the lower position is cleared to enter a new cycle;

[0018] When n is greater than 1 and the brightness value of the color channel is decreasing, the brightness value of the color channel at the lower position decreases by a predetermined color change step m. When the brightness value reaches the end of the cycle, the brightness value of the color channel at the higher position decreases by a predetermined color change step m, and the color channel at the lower position is set high to enter a new cycle.

[0019] Optionally, define the color information of the color block at the real-time position of the track robot as the first positioning information (E n ,E n-1 ,...,E 1 ), and the color information of the color block at the starting position as the second positioning information (S n ,S n-1 ,...,S 1 ), where E j (j = n, n - 1,..., 1) is the brightness value of each color channel of the color block at the real-time position of the track robot, and S j (j = n, n - 1,..., 1) is the brightness value of each color channel of the color block at the starting position;

[0020] When n is greater than 1, when the microcontroller calculates the real-time position of the track robot, the following steps are included:

[0021] Judge whether the brightness value E i of each color channel in the first positioning information is between two-step brightness values, where 1 < i ≤ n and i is a positive integer;

[0022] If it is between two-step brightness values, zero the brightness values of all lower-order color channels of the color channels in the first positioning information that are between the two-step brightness values, and substitute the processed first positioning information into the following formula; if none of them are between the two-step brightness values, substitute the unprocessed first positioning information into the following formula:

[0023]

[0024] In the formula, if E i in the first positioning information is between two-step brightness values, then (E i - S i ) × R i is rounded up, where rounding up means taking the previous brightness value of the two-step brightness values; S Ek is the distance between the real-time position of the track robot and the starting position; j is the number of steps of brightness value change of each color channel; R j is the scaling factor of each color channel; d is the length of each color block along the track direction.

[0025] Optionally, a correction area is provided at one end of the track, the correction area includes two correction color blocks with different brightness values ​​for each color channel, and the microcontroller calculates the proportional factor through the two correction color blocks; specifically:

[0026] The color sensor collects color information of the two correction color blocks, which is recorded as first color block detection color information and second color block detection color information;

[0027] The microcontroller obtains the first color block detection color information, the second color block detection color information and the actual color information of the two correction color blocks, and the actual color information of the two correction color blocks is recorded as the first color block actual color information and the second color block actual color information;

[0028] The microcontroller calculates a difference between the brightness values ​​of the same color channel in the first color block detection color information and the second color block detection color information, and a difference between the brightness values ​​of the same color channel in the first color block actual color information and the second color block actual color information;

[0029] The scaling factor of each color channel is determined according to the difference of the detected color information and the difference of the actual color information.

[0030] Optionally, the positioning system further comprises an acceleration sensor fixedly mounted on the robot body, wherein the acceleration sensor is used to periodically collect the acceleration of the track robot;

[0031] The microcontroller obtains the acceleration collected by the acceleration sensor, and calculates the current speed of the track robot according to the acceleration, calculates the predicted position information at any time in the next cycle through the current speed and the real-time position of the track robot, and controls the speed of the track robot according to the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information.

[0032] Optionally, a rubber sleeve is fixedly mounted on the second end of the light-shielding sleeve that abuts against the track.

[0033] Optionally, a guide groove for the shading sleeve to slide axially is provided on the robot body, a limit block is fixedly installed on the first end of the shading sleeve, and a limit groove cooperating with the limit block is provided on the side wall of the guide groove.

[0034] Optionally, the robot body includes a chassis and a motion mechanism fixed above the chassis, a shell is fixedly installed on one side of the motion mechanism close to the side of the track, the color sensor is arranged in the shell, and the second end of the color sensor passes through the shell and abuts against the side wall of the track.

[0035] Optionally, a transparent plate arranged along the track is fixedly mounted on the track, the color block includes a ribbon paper, the ribbon paper is pasted on a side of the transparent plate close to the track, and the second end of the color sensor is against the transparent plate.

[0036] The present invention has the following beneficial effects due to the adoption of the above technical solution: by setting a color sensor on the track robot and combining the color information corresponding to each position on the track, the real-time position of the track robot can be calculated by using the color information collected at the position of the track robot on the color sensor. The positioning method is more accurate and more convenient, and the positioning effect can be achieved by starting at any position. In addition, through the effect of the elastic member and the light-shielding sleeve set on the color sensor, the collection effect of the color sensor is better, avoiding the influence of the external environment, and the accuracy is higher.

[0037] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic structural diagram of a real-time positioning system for a rail robot according to an embodiment of the present invention is shown;

[0040] Figure 2 A schematic diagram of the installation position structure of a light-shielding sleeve in a rail robot according to an embodiment of the present invention is shown;

[0041] Figure 3 A schematic diagram of the installation structure of a color sensor in a rail robot according to an embodiment of the present invention is shown;

[0042] Figure 4A schematic diagram of the design of a color block in a real-time positioning system of a rail robot according to an embodiment of the present invention is shown.

[0043] Description of the main numbers in the figure:

[0044] 1-chassis; 2-moving mechanism; 3-housing; 4-microcontroller; 5-acceleration sensor; 6-transparent plate; 7-track; 8-wiring channel; 9-color sensor; 10-light-shielding sleeve; 11-elastic member; 12-guide groove; 13-limiting block; 14-limiting groove; 15-rubber sleeve. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0046] like Figure 1 As shown in the structural schematic diagram of the rail robot real-time positioning system, the rail robot real-time positioning system of an embodiment of the present invention includes a rail robot and color blocks arranged on the track 7, wherein the color blocks are arranged on the track 7 according to a preset rule, and the color blocks are continuous and uninterrupted.

[0047] Specific, combined Figure 2 The schematic diagram of the installation position of the light shielding sleeve 10 in the track robot shown in FIG. Figure 3 The schematic diagram of the installation structure of the color sensor 9 shown in the figure, the track robot includes a robot body and a light shielding sleeve 10 arranged on the robot body, the light shielding sleeve 10 is axially slidably arranged on the robot body, the color sensor 9 is fixedly installed in the light shielding sleeve 10, the first end of the light shielding sleeve 10 is provided with an elastic member 11, and the second end of the light shielding sleeve 10 is tightly against the color block through the elastic member 11. Through the elastic force of the elastic member 11, the reaction force applied to the color sensor 9 can make the light shielding sleeve 10 tightly abut against the color block, thereby ensuring that the acquisition result of the color sensor 9 will not be disturbed by the outside. Optionally, the elastic member 11 is a spring.

[0048] The color sensor 9 is used to collect the color information on the color block at the real-time position of the track robot and the color information on the color block at the starting position. The color sensor 9 is a single primary color sensor, which can collect the brightness value of the corresponding color through the single primary color filter. The track robot is also fixedly mounted with a microcontroller 4, which is electrically connected to the color sensor 9 and is used to obtain the color information at the real-time position and the starting position collected by the color sensor 9, and calculate the real-time position of the track robot.

[0049] Better, such as Figure 2 and Figure 3 As shown. The width of each color block along the track 7 is d, and the inner diameter of the light-shielding sleeve 10 is smaller than d. The second end of the light-shielding sleeve 10 resting against the track 7 is fixedly mounted with a rubber sleeve 15 to cooperate with the pressure of the elastic member 11 at the rear end of the light-shielding sleeve 10, thereby eliminating the contact gap caused by the uneven contact surface between the color block and the light-shielding sleeve 10, and avoiding external light from interfering with the collection results as much as possible.

[0050] The robot body includes a chassis 1 and a motion mechanism 2 fixed on the chassis 1. The chassis 1 is a mounting platform for the main structure of the robot body. A housing 3 is fixedly installed on one side of the motion mechanism 2 close to the side of the track 7. The color sensor 9 is arranged in the housing 3, and the second end of the color sensor 9 passes through the housing 3 and abuts against the surface of the color block on the side wall of the track 7. A wiring channel 8 is also provided in the housing 3 for placing and installing the connecting wire of the color sensor 9. The color block is located in the concave side wall of the track 7 and is not easily eroded by wind and rain, and has a longer service life.

[0051] The robot body is provided with a guide groove 12 for the shading sleeve 10 to slide axially, and a limiting block 13 is fixedly installed on the first end of the light-shielding sleeve 10. A limiting groove 14 cooperating with the limiting block 13 is provided on the side wall of the guide groove 12. Through the guiding and limiting action of the limiting block 13, the limiting groove 14 and the guide groove 12, the moving direction of the light-shielding sleeve 10 is limited to its axial movement and will not leave the guide groove 12.

[0052] Preferably, a transparent plate 6 arranged along the track 7 is fixedly mounted on the track 7, and the color block includes a ribbon paper, which is pasted on the side of the transparent plate 6 close to the track 7 to form a color plate, and the second end of the color sensor 9 is against the transparent plate 6. The transparent plate 6 is made of a transparent acrylic plate with a smooth surface and can be bent arbitrarily by heating to adapt to the situation of non-straight tracks such as turns of the track 7. The ribbon paper is printed by an industrial printer.

[0053] Further, in the real-time positioning system of the rail robot, the color information is the brightness value information of each color channel on the color block. Each color block is provided with n color channels, where n is a positive integer. When n is greater than 1, the n color channels are the first color channel to the nth color channel in order from low to high. And the arrangement rule of the color blocks is as follows:

[0054] The brightness values of the same color channel of two adjacent color blocks gradually increase or decrease with a predetermined color change step m. To achieve the positioning of the transition points between two adjacent brightness values in each color channel of the color block, m is a positive integer greater than 1. When n is greater than 1 and the brightness value of the color channel is increasing, the brightness value of the color channel located at the low position increases with a predetermined color change step m. When the brightness value reaches the full count and the loop ends, the brightness value of the color channel at the higher position increases by m with a predetermined color change step, and the brightness value of the color channel at the low position is cleared to enter a new loop; when n is greater than 1 and the brightness value of the color channel is decreasing, the brightness value of the color channel located at the low position decreases with a predetermined color change step m. When the brightness value reaches the full count and the loop ends, the brightness value of the color channel at the higher position decreases by m with a predetermined color change step, and the color channel at the low position is set to high to enter a new loop.

[0055] Define the color information of the color block at the real-time position of the rail robot as the first positioning information (E n , E n-1 ,..., E 1 ), and the color information of the color block at the starting position as the second positioning information (S n , S n-1 ,..., S 1 ), where E j (j = n, n - 1,..., 1) is the brightness value of each color channel of the color block at the real-time position of the rail robot, and S j (j = n, n - 1,..., 1) is the brightness value of each color channel of the color block at the starting position.

[0056] When n is greater than 1, when the microcontroller 4 calculates the real-time position of the rail robot, it includes the following steps:

[0057] S11: Judge whether the brightness value E i of each color channel in the first positioning information is between two brightness values, where 1 < i ≤ n and i is a positive integer;

[0058] S12: If it is between two brightness values, then zero the brightness values of all the lower color channels of the color channels in the first positioning information that are between the two brightness values, and substitute the processed first positioning information into the following formula; if none of them are between the two brightness values, then substitute the unprocessed first positioning information into the following formula:

[0059]

[0060] In the formula, if E in the first positioning information i is between two brightness values, then (E i -S i )×R i Round up, where rounding refers to taking the previous brightness value between two brightness values; S E k is the distance between the real-time position of the track robot and the starting position; j is the number of steps of brightness value change of each color channel; R j is the scaling factor of each color channel; d is the length of each color block along the track direction.

[0061] Preferably, a correction area is provided at one end of the track 7, and the correction area includes two correction color blocks with different brightness values ​​for each color channel, and the microcontroller 4 calculates the proportional factor through the two correction color blocks; the calculation of the proportional factor includes the following steps:

[0062] S21: the color sensor 9 collects color information of the two calibration color blocks, which is recorded as first color block detection color information and second color block detection color information;

[0063] S22: the microcontroller 4 obtains the first color block detection color information, the second color block detection color information and the actual color information of the two correction color blocks, and the actual color information of the two correction color blocks is recorded as the first color block actual color information and the second color block actual color information;

[0064] S23: the microcontroller 4 calculates the difference between the brightness values ​​of the same color channel in the first color block detection color information and the second color block detection color information, and the difference between the brightness values ​​of the same color channel in the first color block actual color information and the second color block actual color information;

[0065] S24: Determine a scaling factor for each color channel according to the difference in the detected color information and the difference in the actual color information.

[0066] Furthermore, if Figure 1As shown, the positioning system also includes an acceleration sensor 5 fixedly mounted on the robot body, and the acceleration sensor 5 is used to periodically collect the acceleration of the track robot; the microcontroller 4 obtains the acceleration collected by the acceleration sensor 5, and calculates the current speed of the track robot according to the acceleration, calculates the predicted position information at any time in the next cycle through the current speed and the real-time position of the track robot, and controls the speed of the track robot according to the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information. Specifically, when controlling the speed of the track robot, the following steps are specifically included:

[0067] S31: the acceleration sensor 5 periodically collects the acceleration of the track robot and transmits it to the microcontroller 4;

[0068] When installing the acceleration sensor 5 , it is necessary to ensure that the positive direction of the sensor is always parallel to the track 7 , that is, the sensor is installed at a fixed distance from the track 7 and the entire movement process is consistent with the tangent direction of the track 7 .

[0069] S32: Calculating the current speed of the track robot according to the acceleration;

[0070] The speed of the robot when it starts V 0 =0, acceleration a 0 =0. Set the timing period to T1 for the read cycle interrupt clock. Every time T1 is interrupted, the current speed calculation formula is:

[0071]

[0072] In the formula, i Indicates the number of interruptions in period T1.

[0073] S33: According to the current speed V i And the real-time position information S of the track robot E Calculate the predicted position information at any time within the next cycle;

[0074] According to the above steps, the clock T1 is set to be an increasing clock starting from 0, the maximum count value is CountMax, and the count value at any time of T1 is set to CountT1. The microcontroller 4 has counting and timing functions, and the predicted position information of the track robot at any time in the next cycle can be predicted. The calculation formula is:

[0075]

[0076] S34: Controlling the speed of the track robot according to the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information.

[0077] According to steps S31 to S34, the speed of the track robot is controlled by positioning it. When the robot approaches the end of track 7 during forward movement or approaches the starting point of the track during backward movement, the speed is decreased according to the distance to avoid unnecessary losses caused by excessive movement speed and failure to brake. Specific embodiment one:

[0079] When n is 1, it includes one color channel, that is, the color blocks are gradients of a single color.

[0080] In this embodiment, step S12 calculates the real-time position of the track robot by the following formula:

[0081]

[0082] Where E is the brightness value of the color block where the track robot is located, S is the brightness value of the color block at the starting position; R is the scale factor of the color channel; and d is the length of each color block along the track direction.

[0083] In this embodiment, the formula for calculating the scale factor is:

[0084]

[0085] In the formula, C 1a , C 2a are the actual brightness values ​​of the first color block and the second color block, respectively, and C 1b , C 2b The brightness value of the first color block and the brightness value of the second color block are detected respectively. Specific embodiment 2:

[0087] Take n=3 as an example, Figure 4 A schematic diagram of a color block design is shown, wherein the color block is a mixed color block based on the three optical primary colors, and correspondingly includes three color sensors 9, such as Figure 1 , 2 As shown in , 3, the three optical primary colors of red, green and blue correspond to form three color channels, and the third color channel is defined as the R color channel, the second color channel is the G color channel, and the first color channel is the B color channel. The three color sensors 9 correspond to collecting the brightness values ​​of the three RGB color channels of the same color block. The brightness value variation range of each color channel is 0~255, and the step length m=3, that is, k is 86 (in the 256 brightness values ​​of 0~255, the step length is 3 to increase or decrease, and there are 86 change steps in total. The calculation formula of k is ,symbol" ” means rounding up to an integer).

[0088] At this time, if the brightness value of the R color channel in the first positioning information is between the two-step brightness values, the brightness values ​​of the G color channel and the B color channel are both between the full 255 and the new cycle 0. If the track robot is located between the color block (0,255,255) and the color block (3,0,0), then based on steps S11 and S12, S is calculated according to the following formula: E :

[0089]

[0090] In the formula, (E R -S R )×R R Round up, where rounding refers to taking the previous brightness value in two brightness steps.

[0091] If the brightness value of the R color channel in the first positioning information is not between the two-step brightness values, and the brightness value of the G color channel is between the two-step brightness values, then the brightness value of the B color channel is between the full 255 and the new cycle 0. If the track robot is located between the color block (0,0,255) and the color block (0,3,0), then based on steps S11 and S12, S is calculated according to the following formula: E :

[0092]

[0093] In the formula, (E G -S G )×R G Round up, where rounding refers to taking the previous brightness value in two brightness steps.

[0094] If the brightness values ​​of the R color channel and the G color channel in the first positioning information are not between the two-step brightness values, the real-time position information is calculated according to the following formula:

[0095]

[0096] In the formula, R R , R G , R B are the scale factors of the three color channels of RGB, S R , S G , S B are the brightness values ​​of the three color channels of RGB at the starting position, E R 、E G 、E B They are the brightness values ​​of the three RGB color channels in the real-time position.

[0097] In this embodiment, two color blocks, a pure white block (255, 255, 255) and a pure black block (0, 0, 0), are selected as the first color block and the second color block for calculating the proportional factor. A color sensor 9 calibration area can be reserved at one end of the color plate, which is composed of the first color block and the second color block mentioned above, and then other color blocks are arranged regularly. The length of these two color blocks can be longer than that of other color blocks to facilitate calibration when the system is first installed. Calculate the proportional factor R R , R G , R B The formula is:

[0098]

[0099] In the formula, C Rw , C Rb are the actual brightness value of the pure white block and the detected brightness value of the pure black block in the R color channel, respectively. Gw , C Gb are the actual brightness value of the pure white block and the detected brightness value of the pure black block in the G color channel, respectively. Bw , C Bb They are the actual brightness value of the pure white block and the detected brightness value of the pure black block in the B color channel respectively.

[0100] Furthermore, if the arrangement length of multiple color blocks formed by three colors is not enough, parallel gradient color plates can be installed to meet the needs. The gradient color rule can be further adjusted by using the low-order color channel of the high-order gradient color plate after the high-order color channel of the low-order gradient color plate is full of 256.

[0101] In some other embodiments, the three colors of RGB in the second specific embodiment may not be mixed, that is, each color block is composed of three parallel monochrome color channels formed by the three colors of red, green and blue.

[0102] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0103] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A rail robot, characterized in that: It comprises a robot body and a light shielding sleeve (10) arranged on the robot body; The light shielding sleeve (10) is slidably arranged on the robot body along the axial direction; The robot body is provided with a guide groove (12) for the shading sleeve (10) to slide axially, a limit block (13) is fixedly mounted on the first end of the shading sleeve (10), and a limit groove (14) cooperating with the limit block (13) is provided on the side wall of the guide groove (12); A color sensor (9) is fixedly mounted in the shading sleeve (10); an elastic member (11) is provided at the first end of the shading sleeve (10); the second end of the shading sleeve (10) is tightly pressed against the track (7) via the elastic member (11); a rubber sleeve (15) is fixedly mounted on the second end of the shading sleeve (10) pressed against the track (7); the color sensor (9) is used to collect color information on the track (7) at the real-time position of the track robot and color information at the starting position; a microcontroller (4) is fixedly mounted on the track robot; the microcontroller (4) is used to obtain color information at the real-time position and the starting position, and calculate the real-time position of the track robot.

2. The rail robot according to claim 1, characterized in that: The robot body comprises a chassis (1) and a motion mechanism (2) fixed above the chassis (1); a shell (3) is fixedly mounted on one side of the motion mechanism (2) close to the side of the track (7); the color sensor (9) is arranged in the shell (3), and the second end of the color sensor (9) passes through the shell (3) and abuts against the side wall of the track (7).

3. The rail robot according to claim 2, characterized in that: An acceleration sensor (5) is also fixedly mounted on the robot body, and the acceleration sensor (5) is used to periodically collect the acceleration of the track robot; The microcontroller (4) is also used to obtain the acceleration collected by the acceleration sensor (5), and calculate the current speed of the track robot based on the acceleration, calculate the predicted position information at any time in the next cycle based on the current speed and the real-time position of the track robot, and control the speed of the track robot based on the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information.

4. A real-time positioning system for a rail robot, characterized in that: The positioning system comprises a track robot and color blocks arranged on a track (7) in a preset pattern; The track robot comprises a robot body and a light shielding sleeve (10) arranged on the robot body, the light shielding sleeve (10) being slidably arranged on the robot body along the axial direction, the robot body being provided with a guide groove (12) for the light shielding sleeve (10) to slide along the axial direction, a limit block (13) being fixedly mounted on the first end of the light shielding sleeve (10), and a limit groove (14) cooperating with the limit block (13) being provided on the side wall of the guide groove (12); a color sensor (9) being fixedly mounted in the light shielding sleeve (10), an elastic member (11) being provided on the first end of the light shielding sleeve (10), the second end of the light shielding sleeve (10) being tightly pressed against the color block through the elastic member (11), a rubber sleeve (15) being fixedly mounted on the second end of the light shielding sleeve (10) pressed against the track (7), and the color sensor (9) being used to collect color information on the color block at the real-time position of the track robot and color information on the color block at the starting position; A microcontroller (4) is fixedly mounted on the track robot, and the microcontroller (4) is used to obtain color information at a real-time position and a starting position, and calculate the real-time position of the track robot.

5. The rail robot real-time positioning system according to claim 4, characterized in that: The color information is the brightness value information of each color channel on the color block. Each color block is provided with n color channels, wherein n is a positive integer. When n is greater than 1, the n color channels are respectively the first color channel to the nth color channel from low to high.

6. The rail robot real-time positioning system according to claim 5, characterized in that: The preset rules are: The brightness value of each color channel is gradually increased or decreased with a predetermined color change step length m, where m is a positive integer greater than 1; When n is greater than 1, and the brightness value of the color channel is increasing, the brightness value of the color channel at the lower position is increased by a predetermined color change step length m. When the brightness value is full and the cycle is over, the brightness value of the color channel at the higher position is increased by a predetermined color change step length m, and the brightness value of the color channel at the lower position is cleared to enter a new cycle; When n is greater than 1 and the brightness value of the color channel is decreasing, the brightness value of the color channel at the lower position is decreased by a predetermined color change step length m. When the brightness value is fully counted and the cycle ends, the brightness value of the color channel at the higher position is reduced by m by a predetermined color change step length, and the color channel at the lower position is set high to enter a new cycle.

7. The rail robot real-time positioning system according to claim 6, characterized in that: Define the color information of the color block at the real-time position of the track robot as the first positioning information (E n ,E n-1 ,...,E1), the color information of the color block at the starting position is the second positioning information (S n ,S n-1 ,...,S1), where E j (j=n,n-1,...,1) is the brightness value of each color channel of the color block at the real-time position of the track robot, S j (j=n,n-1,...,1) is the brightness value of each color channel of the color block at the starting position; When n is greater than 1, when the microcontroller (4) calculates the real-time position of the track robot, the following steps are included: Judge whether the brightness value E of each color channel in the first positioning information i is between two-step brightness values, where 1 < i ≤ n, and i is a positive integer; If it is between the two-step brightness values, the brightness values ​​of all low-order color channels of the color channels between the two-step brightness values ​​in the first positioning information are reset to zero, and the processed first positioning information is substituted into the following formula; if none of them are between the two-step brightness values, the unprocessed first positioning information is substituted into the following formula: In the formula, if E in the first positioning information i is between two brightness values, then (E i -S i )×R i Round up, where rounding refers to taking the previous brightness value between two brightness values; S E k is the distance between the real-time position of the track robot and the starting position; j is the number of steps of brightness value change of each color channel; R j is the scaling factor of each color channel; d is the length of each color block along the track direction.

8. The rail robot real-time positioning system according to claim 4, characterized in that: A correction area is provided at one end of the track (7), the correction area comprising two correction color blocks having different brightness values ​​for each color channel, and the microcontroller (4) calculates a proportional factor through the two correction color blocks; specifically: The color sensor (9) collects color information of the two correction color blocks, which is recorded as first color block detection color information and second color block detection color information; The microcontroller (4) obtains the first color block detection color information, the second color block detection color information and the actual color information of the two correction color blocks, and the actual color information of the two correction color blocks is recorded as the first color block actual color information and the second color block actual color information; The microcontroller (4) calculates a difference between the brightness values ​​of the same color channel in the first color block detection color information and the second color block detection color information, and a difference between the brightness values ​​of the same color channel in the first color block actual color information and the second color block actual color information; The scaling factor of each color channel is determined according to the difference of the detected color information and the difference of the actual color information.

9. The rail robot real-time positioning system according to claim 4, characterized in that: The positioning system further comprises an acceleration sensor (5) fixedly mounted on the robot body, wherein the acceleration sensor (5) is used to periodically collect the acceleration of the track robot; The microcontroller (4) acquires the acceleration collected by the acceleration sensor (5), calculates the current speed of the track robot based on the acceleration, calculates the predicted position information at any time in the next cycle based on the current speed and the real-time position of the track robot, and controls the speed of the track robot based on the color information of the end point positioning color block in the forward direction of the track robot and the predicted position information.

10. The rail robot real-time positioning system according to any one of claims 4 to 9, characterized in that: The robot body comprises a chassis (1) and a motion mechanism (2) fixed above the chassis (1); a shell (3) is fixedly mounted on one side of the motion mechanism (2) close to the side of the track (7); the color sensor (9) is arranged in the shell (3), and the second end of the color sensor (9) passes through the shell (3) and abuts against the side wall of the track (7).

11. The rail robot real-time positioning system according to any one of claims 4 to 9, characterized in that: A transparent plate (6) arranged along the track direction is fixedly mounted on the track (7); the color block comprises a ribbon paper, the ribbon paper is adhered to a side of the transparent plate (6) close to the track (7); and the second end of the color sensor (9) abuts against the transparent plate (6).

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