A method and system for positioning an inspection robot, a storage medium and an intelligent terminal

Abstract

The application relates to a positioning method of a patrol robot, and relates to the field of positioning, which comprises the following steps: acquiring current label identification information and current moving distance information; determining positioning parameter information corresponding to the label identification information in a label database; when the label identification information is received, clearing the distance value corresponding to the moving distance information; determining the horizontal coordinate corresponding to the positioning parameter information and the moving distance information in a horizontal coordinate database; determining the vertical coordinate corresponding to the horizontal coordinate in a vertical equipment database; controlling the camera to recognize the position point corresponding to the vertical coordinate from bottom to top in sequence according to the vertical coordinate, and acquiring current feature information at the position point corresponding to the vertical coordinate; if the feature information is consistent with reference feature information, the positioning recognition is completed; if the feature information is inconsistent with the reference feature information, a prompt is given. The application has the effect of improving the accuracy of indoor positioning.

Description

Technical Field

[0001] This application relates to the field of positioning, and in particular to a positioning method, system, storage medium, and intelligent terminal for an inspection robot. Background Technology

[0002] An inspection robot is a device used for indoor inspections, typically used to patrol and inspect various electronic instruments and equipment in a computer room.

[0003] In related technologies, a GPS positioning chip is installed on an inspection robot. By using the GPS positioning chip and an electronic map, the robot can be positioned. By installing the GPS positioning chip on the instrument being tested and viewing the two GPS signals on the electronic map, the positioning relationship between the two can be determined.

[0004] Regarding the aforementioned technologies, the inventors believe that due to the complex indoor environment, numerous sources of interference, and limited space, the positioning between the inspection robot and the object being tested in the machine room is inaccurate, and there is room for improvement. Summary of the Invention

[0005] To improve the accuracy of indoor positioning, this application provides a positioning method, system, storage medium, and intelligent terminal for inspection robots.

[0006] Firstly, this application provides a positioning method for an inspection robot, employing the following technical solution:

[0007] A method for locating an inspection robot, comprising:

[0008] Obtain the current tag identification information and the current movement distance information of the RFID tags on the current moving track;

[0009] The positioning parameter information corresponding to the tag identification information is determined by analyzing and matching the tag identification information and positioning parameter information stored in the preset tag database.

[0010] When receiving tag identification information, the distance value corresponding to the movement distance information is cleared to zero;

[0011] The horizontal coordinates, positioning parameters, and movement distance information stored in the horizontal coordinate database are analyzed and matched to determine the horizontal coordinates corresponding to the positioning parameters and movement distance information.

[0012] The vertical coordinate and horizontal coordinate stored in the preset vertical equipment database are analyzed and matched to determine the vertical coordinate corresponding to the horizontal coordinate.

[0013] Based on the vertical coordinate, the camera pre-installed on the inspection robot is controlled to identify the corresponding position point from bottom to top, and the current feature information is obtained at the position point of the vertical coordinate.

[0014] Determine whether the feature information is consistent with the preset benchmark feature information;

[0015] If the feature information matches the baseline feature information, the location identification is complete;

[0016] If the feature information is inconsistent with the baseline feature information, a prompt will be given.

[0017] By adopting the above technical solution, the stage of the corresponding moving track can be known through the acquisition of tag identification information, thereby improving overall accuracy. Furthermore, by acquiring the moving distance information, the overall horizontal coordinate is determined, and the corresponding vertical coordinate for inspection is then established. Additionally, when the tag identification information is received, the distance value corresponding to the moving distance information is reset to zero, further improving overall accuracy, and finally, the feature information is identified.

[0018] Optionally, methods for outputting tag recognition information include:

[0019] The current signal source between the inspection robot on the moving track and the transmitters in each preset area is obtained. The frequency of the signal source is different in different areas.

[0020] The signal source with the strongest signal strength is selected from different signal sources, and the signal sources and regional ranges stored in the preset signal database are analyzed and matched to determine the regional range corresponding to the signal source.

[0021] Controls the output of tag identification information from radio frequency tags within a preset area.

[0022] By adopting the above technical solution, the signal strength between the transmitter and the inspection robot can be understood, thereby controlling the area where the inspection robot is located and controlling the RFID tags in the corresponding area to transmit signals, reducing interference caused by excessive signals and saving more energy.

[0023] Optionally, when the feature information is inconsistent with the reference feature information, the correction method for the inspection robot on the moving track includes:

[0024] The virtual horizontal coordinate is determined by matching the movement distance information stored in the preset positioning database with the virtual horizontal coordinate.

[0025] Define the location of the tag identification information at a certain position on the moving track as the starting point, control the inspection robot to move to the starting point, and control the inspection robot to move forward in the direction of the virtual horizontal coordinate at the preset moving speed.

[0026] The inspection robot is moved to the vertical coordinate corresponding to the virtual horizontal coordinate until the feature information is consistent with the reference feature information and the number of corrections is output. The number of revolutions of the motor on the inspection robot from the starting point to the virtual horizontal coordinate is obtained, so as to correct the movement distance information from the starting point to the virtual horizontal coordinate by the number of revolutions.

[0027] Determine whether the number of corrections exceeds the preset baseline number;

[0028] If the number of corrections is not greater than the baseline number, continue testing;

[0029] If the number of corrections exceeds the baseline number, a prompt will be issued.

[0030] By adopting the above technical solution, when the inspection robot has not reached the corresponding position on its moving track, it can understand the distance traveled to determine the virtual horizontal coordinate position it should be at. This allows the robot to return to the starting point and move towards the virtual horizontal coordinate position. Furthermore, to quickly identify the corresponding feature information, it can reach the vertical coordinate position in advance to complete the correction. If too many corrections are required, a prompt will be issued to inform the staff.

[0031] Optionally, if the number of corrections exceeds the baseline number and the current inspection task is not completed, the movement control method for the inspection robot in the subsequent moving track includes:

[0032] Determine whether the feature information is inconsistent with the baseline feature information;

[0033] If the feature information is not continuous and inconsistent with the baseline feature information, continue detection;

[0034] If the feature information is inconsistent with the baseline feature information, the error rate is determined by analyzing and matching the lap count information, travel distance information and error rate stored in the preset error database.

[0035] The movement distance information is corrected based on the error rate to allow the inspection robot to move until the inspection task is completed.

[0036] By adopting the above technical solution, when there are too many corrections in the same inspection task, the continuity of correction is detected. Once a continuous situation occurs, it indicates that the internal wear is serious. By calculating the error rate, the slippage during movement can be known, so as to implement subsequent inspection tasks in this task. It is highly practical.

[0037] Optionally, when outputting the number of corrections, the detection method for the moving track includes:

[0038] Obtain the current orbit image information of the current moving orbit;

[0039] Determine whether the track features in the track image information are consistent with the preset reference track features;

[0040] If the track features in the track image information are inconsistent with the reference track features, then an indication will be made in the track image information and a prompt will be given;

[0041] If the track features in the track image information are consistent with the reference track features, then the current humidity detection information of the moving track is obtained;

[0042] Determine whether the humidity value corresponding to the humidity detection information is greater than the preset reference humidity value;

[0043] If the humidity value corresponding to the humidity detection information is not greater than the reference humidity value, a prompt will be issued;

[0044] If the humidity value corresponding to the humidity detection information is greater than the reference humidity value, the preset drying device will be controlled to perform drying at the point where the humidity value corresponding to the humidity detection information is greater than the reference humidity value.

[0045] By employing the above technical solution, the presence of foreign objects on the track can be identified through image recognition, thus preventing slippage. The humidity level of the track is also monitored to determine if it is excessively damp or has water droplets that could cause slippage. A drying process is then implemented to improve the maintenance capabilities of the mobile track.

[0046] Optionally, the detection method for the RFID tag during the calibration cycle output includes:

[0047] Obtain the current distance detection information between each RFID tag on the moving track and the preset reference point;

[0048] Determine whether the distance value corresponding to the distance detection information is consistent with the preset reference distance value;

[0049] If the distance value corresponding to the distance detection information is consistent with the reference distance value, the verification is complete;

[0050] If the distance value corresponding to the distance detection information is inconsistent with the reference distance value, then it should be marked;

[0051] Determine whether the RFID tag adjacent to the marked area is marked;

[0052] If an RFID tag adjacent to the marked area is marked, a warning will be issued;

[0053] If the RFID tag adjacent to the marked area is not marked, then it shall be marked.

[0054] By employing the above technical solution, the distance between the RFID tag and the base point is detected and compared with a reference distance value to determine whether the RFID tag has a problem, and the problematic RFID tag is marked. Simultaneously, it is also checked whether adjacent RFID tags have been marked to complete the warning or labeling process.

[0055] Optionally, the feature information includes dots and QR codes, and the points corresponding to the horizontal and vertical coordinates are defined as positioning points; when the feature information is inconsistent with the reference feature information, the identification and correction methods for the feature information include:

[0056] Obtain the dot and the QR code, and calculate the distance between the dot and the QR code;

[0057] Determine whether the spacing is consistent with the preset reference spacing at the positioning point;

[0058] If the spacing distance is inconsistent with the spacing distance at the positioning point, calculate the spacing difference between the spacing distance and the reference spacing distance;

[0059] The system analyzes and matches the spacing differences and adjustment angles stored in the preset spacing database to determine the adjustment angle corresponding to the spacing difference, and controls the camera to rotate according to the adjustment angle.

[0060] If the spacing distance is consistent with the spacing distance at the positioning point, then determine whether the content recognized by the QR code is consistent with the preset reference content at the positioning point.

[0061] If the content identified by the QR code matches the reference content at the positioning point, then the identification and correction of the feature information is complete.

[0062] If the content recognized by the QR code is inconsistent with the reference content at the positioning point, a prompt will be displayed.

[0063] By adopting the above technical solution, the angle of the camera facing the device is known by identifying the distance between the dot and the QR code. Furthermore, the angle between the two is known by comparing the distance between the dots with the reference distance. This allows the corresponding adjustment angle to be matched from the distance database, thereby adjusting the camera angle and recognizing the content, thus improving the overall accuracy.

[0064] Secondly, this application provides a positioning system for an inspection robot, which adopts the following technical solution:

[0065] A positioning system for an inspection robot, comprising:

[0066] The acquisition module is used to acquire tag recognition information, movement distance information, feature information, signal source, number of revolutions information, track image information, humidity detection information, distance detection information, dots, and QR codes;

[0067] A memory for storing programs for the inspection robot positioning methods described above;

[0068] The processor and memory programs can be loaded and executed by the processor to implement any of the above-mentioned inspection robot positioning methods.

[0069] By adopting the above technical solution, the stage of the corresponding moving track can be known through the acquisition of tag identification information, thereby improving overall accuracy. Furthermore, by acquiring the moving distance information, the overall horizontal coordinate is determined, and the corresponding vertical coordinate for inspection is then established. Additionally, when the tag identification information is received, the distance value corresponding to the moving distance information is reset to zero, further improving overall accuracy, and finally, the feature information is identified.

[0070] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0071] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any of the inspection robot positioning methods described above.

[0072] By adopting the above technical solution, the stage of the corresponding moving track can be known through the acquisition of tag identification information, thereby improving overall accuracy. Furthermore, by acquiring the moving distance information, the overall horizontal coordinate is determined, and the corresponding vertical coordinate for inspection is then established. Additionally, when the tag identification information is received, the distance value corresponding to the moving distance information is reset to zero, further improving overall accuracy, and finally, the feature information is identified.

[0073] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the accuracy of indoor positioning, and adopts the following technical solution:

[0074] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described inspection robot positioning methods.

[0075] By adopting the above technical solution, the stage of the corresponding moving track can be known through the acquisition of tag identification information, thereby improving overall accuracy. Furthermore, by acquiring the moving distance information, the overall horizontal coordinate is determined, and the corresponding vertical coordinate for inspection is then established. Additionally, when the tag identification information is received, the distance value corresponding to the moving distance information is reset to zero, further improving overall accuracy, and finally, the feature information is identified.

[0076] In summary, this application includes at least one of the following beneficial technical effects:

[0077] 1. Improve the accuracy of indoor positioning;

[0078] 2. Identify the moving track and understand its status to improve identification capabilities. Attached Figure Description

[0079] Figure 1 This is a flowchart of the method for positioning inspection robots.

[0080] Figure 2 This is a flowchart of the method for outputting tag recognition information.

[0081] Figure 3 This is a flowchart of the correction method for an inspection robot on a moving track.

[0082] Figure 4 This is a flowchart of the method for controlling the movement of the inspection robot.

[0083] Figure 5 This is a flowchart of the detection method for the moving track.

[0084] Figure 6 This is a flowchart of the RFID tag detection method.

[0085] Figure 7 This is a flowchart of the feature information recognition and correction method. Detailed Implementation

[0086] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0087] This application discloses a method for positioning an inspection robot. A moving track is pre-installed on the ceiling, and an inspection robot is connected to the moving track. The inspection robot is equipped with a motor, which drives the inspection robot to move on the moving track. Furthermore, the inspection robot is connected to a camera for recognition and image detection. The camera can be raised and lowered via a device such as an electric push rod.

[0088] Reference Figure 1 When the inspection robot moves on the moving track, the positioning method of the inspection robot on the moving track includes the following steps:

[0089] Step 100: Obtain the current tag identification information and the current moving distance information of the RFID tag on the current moving track.

[0090] The RFID tags are installed on the moving track and are used to transmit tag identification information. Different RFID tags output tag identification information at different frequencies, which are then received by the inspection robot. The inspection robot receives the transmitted tag identification information when it gets close enough to the RFID tag. The proximity distance between the inspection robot and the RFID tag is set by the staff according to the actual situation, and will not be elaborated here.

[0091] The movement distance information refers to the distance the inspection robot has moved along the moving track. The number of rotations of the motor is obtained through the rotation sensor, thus determining the corresponding distance traveled.

[0092] Step 101: Analyze and match the tag identification information and positioning parameter information stored in the preset tag database to determine the positioning parameter information corresponding to the tag identification information.

[0093] The tag database is a pre-set database that stores tag identification information and positioning parameters. By inputting the tag identification information into the tag database, the positioning parameters corresponding to the tag identification information can be retrieved from the tag database.

[0094] The positioning parameter information is the location of the RFID tag, so that the inspection robot knows its location when it passes by.

[0095] Step 102: When receiving tag identification information, the distance value corresponding to the movement distance information is cleared to zero.

[0096] When the inspection robot receives tag identification information, it resets the distance value corresponding to the movement distance information to zero, thereby continuously resetting to zero in order to improve the accuracy of the overall inspection.

[0097] Step 103: Analyze and match the horizontal coordinates, positioning parameter information, and movement distance information stored in the horizontal coordinate database to determine the horizontal coordinates corresponding to the positioning parameter information and movement distance information.

[0098] The horizontal coordinate database is a preset database, set up by staff according to actual conditions, and will not be elaborated here. The horizontal coordinate database stores horizontal coordinates, positioning parameter information, and movement distance information. By inputting the positioning parameter information and movement distance information into the horizontal coordinate database, the corresponding horizontal coordinates are retrieved from the database.

[0099] After knowing the different positioning parameters, we then understand the corresponding movement distance information to obtain a unique horizontal coordinate. The horizontal coordinate represents the lateral position of the inspection robot on its movement track.

[0100] Step 104: Analyze and match the ordinates and abscissas stored in the preset vertical equipment database to determine the ordinate corresponding to the abscissa.

[0101] The vertical equipment database is a preset database, which is set up by staff according to the actual situation, and will not be elaborated here. The vertical equipment database stores the vertical and horizontal coordinates. By inputting the horizontal coordinate into the vertical equipment database, the corresponding vertical coordinate can be matched from the vertical equipment database.

[0102] When there are multiple devices that need to be inspected on the same horizontal axis, there will be multiple vertical axes, which will control the camera on the inspection robot to move up and down.

[0103] Step 105: Based on the vertical coordinate, control the camera preset on the inspection robot to identify the position point corresponding to the vertical coordinate from bottom to top, and obtain the current feature information at the position point of the vertical coordinate.

[0104] After knowing the vertical coordinates, the camera on the inspection robot is controlled to identify the features sequentially from bottom to top. The camera on the inspection robot will first move to the lowest position and identify the features at the corresponding position to obtain images of the features.

[0105] Step 106: Determine whether the feature information is consistent with the preset benchmark feature information.

[0106] The baseline feature information is the feature information pre-set by the staff. By judging whether the feature information is consistent with the baseline feature information, it can be determined whether the corresponding location point has been reached.

[0107] Step 1070: If the feature information is consistent with the reference feature information, the positioning and identification are completed.

[0108] If the feature information matches the baseline feature information, it indicates that the corresponding location has been reached, and the positioning and identification are completed.

[0109] Step 1071: If the feature information is inconsistent with the baseline feature information, a prompt will be given.

[0110] If the feature information is inconsistent with the reference feature information, it indicates that the positioning is inaccurate due to slippage or other reasons, and a prompt will be issued at this time.

[0111] Reference Figure 2 The tag identification information is transmitted by the radio frequency tag, and the method for controlling the output of the tag identification information includes the following steps:

[0112] Step 200: Obtain the current signal source between the inspection robot on the moving track and each preset area transmitter. The frequency of the signal source is different in different areas.

[0113] The inspection robot is equipped with receivers that receive signals from the area transmitters. These area transmitters are installed in different areas, thus dividing the overall movement path into these areas.

[0114] Each area is equipped with a regional transmitter, which emits signals of different frequencies to distinguish between them.

[0115] Step 201: Select the signal source with the strongest signal strength from different signal sources, and analyze and match the signal sources and regional ranges stored in the preset signal database to determine the regional range corresponding to the signal source.

[0116] The signal source with the strongest signal strength is selected from the different signal sources, which is the case where the inspection robot is closest to the transmitter in the area.

[0117] The signal database is a preset database that stores signal sources and their corresponding regions. By inputting a signal source, the corresponding region can be matched from the signal database.

[0118] The area range refers to the area where the inspection robot is located, which is used to narrow down the scope of inspection.

[0119] Step 202: Control the RFID tags within the preset area to output tag identification information.

[0120] After determining the area, the radio frequency tags preset within the area are controlled to output tag identification information, which is then received by the inspection robot.

[0121] Reference Figure 3 When the feature information is inconsistent with the reference feature information, that is, the camera on the inspection robot cannot directly obtain accurate feature information, the correction method for the inspection robot on the moving track includes the following steps:

[0122] Step 300: Match the movement distance information stored in the preset positioning database with the virtual horizontal coordinate to determine the virtual horizontal coordinate corresponding to the movement distance information.

[0123] The location database is a pre-set database that stores movement distance information and virtual x-coordinates. By inputting the movement distance information into the location database, the virtual x-coordinates corresponding to the movement distance information are matched from the database.

[0124] Since the location of the equipment to be inspected remains unchanged, the corresponding horizontal coordinate and the distance moved remain unchanged. Because the feature information under the horizontal coordinate and the vertical coordinate are inconsistent at this time, slippage may occur.

[0125] Step 301: Define the location of the tag identification information at a certain position on the moving track as the starting point, control the inspection robot to move to the starting point, and control the inspection robot to move forward in the direction of the virtual horizontal coordinate at the preset moving speed.

[0126] The location of the tag identification information at a certain position on the moving track is defined as the starting point, thereby controlling the inspection robot to move to the starting point. When the inspection robot identifies the corresponding tag identification information, it means that it has reached the starting point.

[0127] After the inspection robot reaches the starting point, it is controlled to move towards the virtual horizontal coordinate at a preset speed to reach the corresponding position.

[0128] Step 302: Adjust the inspection robot to move to the vertical coordinate corresponding to the virtual horizontal coordinate until the feature information is consistent with the reference feature information and output the number of corrections. Also, obtain the number of revolutions of the motor on the inspection robot from the starting point to the virtual horizontal coordinate, so as to correct the movement distance information corresponding to the starting point to the virtual horizontal coordinate using the number of revolutions information.

[0129] When the inspection robot moves, it learns the vertical coordinate corresponding to the virtual horizontal coordinate and reaches the lowest coordinate position in advance to start moving. It adjusts itself to the vertical coordinate corresponding to the virtual horizontal coordinate until the feature information is consistent with the reference feature information, which means it has reached the corresponding position and stops, thus completing the movement.

[0130] After the movement is completed, the number of corrections is output. Since the movement track slips during this stage, the inspection robot cannot move according to the movement distance information corresponding to the horizontal coordinate. At this time, the number of revolutions of the motor on the inspection robot from the starting point to the virtual horizontal coordinate is obtained, which is the actual number of revolutions of the motor after slippage.

[0131] The lap count information is corrected to reflect the distance traveled from the starting point to the virtual horizontal coordinate, so that it can be corrected for the next use.

[0132] Step 303: Determine whether the number of corrections is greater than the preset baseline number of corrections.

[0133] The baseline number of treatments is a preset number, set by staff based on actual circumstances, and will not be elaborated upon here. By judging whether the number of treatments exceeds the baseline number, it can be determined whether the treatment is frequent.

[0134] Step 3040: If the number of corrections is not greater than the baseline number, continue testing.

[0135] If the number of corrections is not greater than the baseline number, it is considered an occasional case, and testing should continue.

[0136] Step 3041: If the number of corrections exceeds the baseline number, a prompt will be issued.

[0137] If the number of corrections exceeds the baseline number, it indicates that this is a frequent occurrence, and a notification will be issued.

[0138] Reference Figure 4 If the number of corrections exceeds the baseline number and the current inspection task is not completed, the movement control method for the inspection robot in the subsequent moving track includes the following steps:

[0139] Step 400: Determine whether the feature information is inconsistent with the baseline feature information.

[0140] By judging whether the feature information is continuous and inconsistent with the baseline feature information, we can know whether there is a situation where neither adjacent features are correct.

[0141] Step 4010: If the feature information is not continuous and inconsistent with the baseline feature information, continue the detection.

[0142] If the feature information is discontinuous and inconsistent with the baseline feature information, it indicates that the problem is not caused by track damage, so the detection continues.

[0143] Step 4011: If the feature information is inconsistent with the baseline feature information, then the error rate corresponding to the number of laps, the distance traveled, and the error rate stored in the preset error database are analyzed and matched to determine the error rate corresponding to the number of laps and the distance traveled.

[0144] If the feature information is consistently inconsistent with the baseline feature information, it indicates that the problem occurs occasionally and is not caused by the track.

[0145] The error database is a pre-set database that stores lap count information, distance traveled information, and error rate. By inputting the lap count information and distance traveled information into the error database, the error rate corresponding to the lap count information and distance traveled information can be matched from the error database.

[0146] Step 402: Correct the moving distance information according to the error rate so that the inspection robot can move until the inspection task is completed.

[0147] The obtained error rate is used to correct the movement distance information, that is, the error rate is multiplied by the movement distance information to obtain the corresponding number of revolutions. The newly obtained number of revolutions is used for the inspection robot to move until the inspection task is completed.

[0148] Reference Figure 5 When outputting the number of corrections, the method for detecting the moving track includes the following steps:

[0149] Step 500: Obtain the current track image information of the current moving track.

[0150] Cameras are installed around the moving track to capture images of the track and output track image information. When the inspection robot passes by, the corresponding camera is activated, thereby performing image recognition on the corresponding track. The cameras can also remain active to acquire images.

[0151] Step 501: Determine whether the track features in the track image information are consistent with the preset reference track features.

[0152] The baseline track features are pre-set by the staff and will not be elaborated upon here. By comparing the track features in the track image information with the baseline track features, it is possible to determine whether there is interference from foreign objects.

[0153] Step 5020: If the track features in the track image information are inconsistent with the reference track features, then mark them in the track image information and provide a prompt.

[0154] If the track features in the track image information are inconsistent with the reference track features, it indicates that there are foreign objects on the track or the track is damaged, which may cause slippage. Therefore, this should be marked in the track image information and a warning should be given.

[0155] Step 5021: If the track features in the track image information are consistent with the reference track features, then obtain the current humidity detection information of the moving track.

[0156] If the track features in the track image information match the features of the reference track, it indicates that there are no foreign objects on the track. At this point, the current humidity detection information of the moving track is obtained. The humidity detection information is obtained through a humidity sensor to detect the humidity level on the track, thereby determining whether the track is slipping due to high humidity.

[0157] Step 503: Determine whether the humidity value corresponding to the humidity detection information is greater than the preset reference humidity value.

[0158] The baseline humidity value is a preset value set by staff based on actual conditions, which will not be elaborated here. By comparing the humidity value corresponding to the humidity detection information with the baseline humidity value, it can be determined whether the humidity value on the track exceeds the standard.

[0159] Step 5040: If the humidity value corresponding to the humidity detection information is not greater than the reference humidity value, a prompt will be issued.

[0160] If the humidity value corresponding to the humidity detection information is not greater than the reference humidity value, it means that the current humidity is within the normal range, and a prompt will be given at this time.

[0161] Step 5041: If the humidity value corresponding to the humidity detection information is greater than the reference humidity value, then control the preset drying device to perform drying at the point where the humidity value corresponding to the humidity detection information is greater than the reference humidity value.

[0162] If the humidity value corresponding to the humidity detection information is greater than the reference humidity value, it means that the current humidity is too humid and slippage may occur. At this time, the drying device is controlled to dry at the humidity value corresponding to the humidity detection information that is greater than the reference humidity value, thereby improving the overall dryness.

[0163] Reference Figure 6 When outputting the correction count, the detection methods for the RFID tag include:

[0164] Step 600: Obtain the current distance detection information between each RFID tag on the moving track and the preset reference point.

[0165] Multiple RFID tags are installed on a track. Distance detection information is the distance between each RFID tag and a reference point, which is detected and identified using a camera to complete the distance measurement. The reference point is a preset location point, set by staff according to the actual situation.

[0166] Step 601: Determine whether the distance value corresponding to the distance detection information is consistent with the preset reference distance value.

[0167] By comparing the distance value detected with the baseline distance value, it can be determined whether there is an error or misalignment in the installation of the RFID tag. The baseline distance value is a preset value set by staff according to the actual situation, which will not be elaborated upon here.

[0168] Step 6020: If the distance value corresponding to the distance detection information is consistent with the reference distance value, the verification is complete.

[0169] If the distance value corresponding to the distance detection information is consistent with the reference distance value, it means that the position of the RFID tag on the moving track has not been displaced, and the verification is completed.

[0170] Step 6021: If the distance value corresponding to the distance detection information is inconsistent with the reference distance value, then mark it.

[0171] If the distance value corresponding to the distance detection information is inconsistent with the reference distance value, it indicates that the RFID tag has been displaced on the track. In this case, the RFID tag should be marked.

[0172] Step 603: Determine whether the RFID tag adjacent to the marked area has been marked.

[0173] By detecting whether adjacent RFID tags at the marked location are marked, the status of adjacent RFID tags can be known, thereby determining whether there is an overall offset.

[0174] Step 6040: If an RFID tag adjacent to the marked area is marked, issue a warning.

[0175] If an RFID tag adjacent to the marked area is marked, it indicates that there is a complete offset, and therefore a warning is issued.

[0176] Step 6041: If the RFID tag adjacent to the marked area is not marked, then mark it.

[0177] If the RFID tag adjacent to the marked area is not marked, it means that there is no whole segment of offset. In this case, it is marked to distinguish it.

[0178] Reference Figure 7 In addition to the parameters, indicator lights, and temperature on the instrument that need to be identified, the feature information also includes dots and QR codes. The points corresponding to the horizontal and vertical coordinates are defined as positioning points. When the feature information is inconsistent with the reference feature information, it may be due to an incorrect camera rotation direction. Therefore, the method for correcting the feature information includes the following steps:

[0179] Step 700: Obtain the dot and the QR code, and calculate the distance between the dot and the QR code.

[0180] The camera scans and identifies dots and QR codes within the current detection range. The dots are hemispherical protrusions that bulge outwards on the instrument, while the QR codes are printed on the instrument and are on the same surface as the dots.

[0181] Calculate the distance between the dot and the QR code. Take the center of the dot as the first point. Connect the three squares in the QR code that are used for positioning and identification to obtain the midpoint of the triangle and take it as the second point.

[0182] The spacing is the distance between the first point and the second point.

[0183] Step 701: Determine whether the spacing distance is consistent with the preset reference spacing distance at the positioning point.

[0184] By checking whether the spacing is consistent with the reference spacing at the positioning point, it can be determined whether the camera is not rotating properly.

[0185] The baseline spacing is a preset distance value, which is set by staff according to the actual situation, and will not be elaborated here.

[0186] Step 7021: If the spacing distance is consistent with the spacing distance on the positioning point, then determine whether the content recognized by the QR code is consistent with the preset reference content on the positioning point.

[0187] If the spacing distance is consistent with the spacing distance on the positioning point, it indicates that the camera is turned correctly. At this time, it is determined whether the content recognized by the QR code is consistent with the reference content on the positioning point, so as to understand the recognized content. The reference content is set by the staff according to the actual situation, which will not be elaborated here.

[0188] Step 7030: If the content identified by the QR code is consistent with the reference content at the positioning point, the identification and correction of the feature information is completed.

[0189] If the content recognized by the QR code matches the reference content at the positioning point, it means that the feature recognized by the camera is accurate, thus completing the recognition and correction of the feature information.

[0190] Step 7031: If the content recognized by the QR code is inconsistent with the reference content at the positioning point, a prompt will be displayed.

[0191] If the content recognized by the QR code is inconsistent with the reference content at the positioning point, it means that the feature recognized by the camera is inaccurate, and it just happens to recognize a similar instrument, so a prompt is issued.

[0192] Step 7020: If the spacing distance is inconsistent with the spacing distance at the positioning point, calculate the spacing difference between the spacing distance and the reference spacing distance.

[0193] If the spacing distance is inconsistent with the spacing distance at the positioning point, it indicates that the camera is in an off-center state. In this case, the difference between the spacing distance and the reference spacing distance is calculated.

[0194] Step 704: Analyze and match the spacing difference and adjustment angle stored in the preset spacing database to determine the adjustment angle corresponding to the spacing difference, and control the camera to rotate at the adjustment angle.

[0195] The spacing database is a preset database that stores spacing differences and adjustment angles. By inputting the spacing difference into the spacing database, the adjustment angle corresponding to the spacing difference can be matched from the spacing database.

[0196] Finally, the camera is rotated according to the adjustment angle to perform recognition and detection.

[0197] Based on the same inventive concept, embodiments of the present invention provide a positioning system for an inspection robot, comprising:

[0198] The acquisition module is used to acquire tag recognition information, movement distance information, feature information, signal source, number of revolutions information, track image information, humidity detection information, distance detection information, dots, and QR codes;

[0199] A memory for storing programs for the inspection robot positioning methods described above;

[0200] The processor and memory programs can be loaded and executed by the processor to implement any of the above-mentioned inspection robot positioning methods.

[0201] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0202] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described inspection robot positioning methods.

[0203] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0204] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any of the inspection robot positioning methods described above.

[0205] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0206] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for locating an inspection robot, characterized in that, include: Obtain the current tag identification information and the current movement distance information of the RFID tags on the current moving track; The positioning parameter information corresponding to the tag identification information is determined by analyzing and matching the tag identification information and positioning parameter information stored in the preset tag database. When receiving tag identification information, the distance value corresponding to the movement distance information is cleared to zero; The horizontal coordinates, positioning parameters, and movement distance information stored in the horizontal coordinate database are analyzed and matched to determine the horizontal coordinates corresponding to the positioning parameters and movement distance information. The vertical coordinate and horizontal coordinate stored in the preset vertical equipment database are analyzed and matched to determine the vertical coordinate corresponding to the horizontal coordinate. Based on the vertical coordinate, the camera pre-installed on the inspection robot is controlled to identify the corresponding position point from bottom to top, and the current feature information is obtained at the position point of the vertical coordinate. Determine whether the feature information is consistent with the preset benchmark feature information; If the feature information matches the baseline feature information, the location identification is complete; If the feature information is inconsistent with the baseline feature information, a prompt will be given; When the feature information is inconsistent with the reference feature information, the correction methods for the inspection robot on the moving track include: The virtual horizontal coordinate is determined by matching the movement distance information stored in the preset positioning database with the virtual horizontal coordinate. Define the location of the tag identification information at a certain position on the moving track as the starting point, control the inspection robot to move to the starting point, and control the inspection robot to move forward in the direction of the virtual horizontal coordinate at the preset moving speed. The inspection robot is moved to the vertical coordinate corresponding to the virtual horizontal coordinate until the feature information is consistent with the reference feature information and the number of corrections is output. The number of revolutions of the motor on the inspection robot from the starting point to the virtual horizontal coordinate is obtained. The number of revolutions is used to correct the moving distance information corresponding to the starting point to the virtual horizontal coordinate. After the movement is completed, the number of corrections is output and the number of revolutions of the motor on the inspection robot from the starting point to the virtual horizontal coordinate is obtained. The number of revolutions indicates the number of rotations of the motor of the inspection robot after slippage occurs. Determine whether the number of corrections exceeds the preset baseline number; If the number of corrections is not greater than the baseline number, continue testing; If the number of corrections exceeds the baseline number, a prompt will be issued.

2. The inspection robot positioning method according to claim 1, characterized in that, Methods for outputting tag recognition information include: The current signal source between the inspection robot on the moving track and the transmitters in each preset area is obtained. The frequency of the signal source is different in different areas. The signal source with the strongest signal strength is selected from different signal sources, and the signal sources and regional ranges stored in the preset signal database are analyzed and matched to determine the regional range corresponding to the signal source. Controls the output of tag identification information from radio frequency tags within a preset area.

3. The inspection robot positioning method according to claim 1, characterized in that, If the number of corrections exceeds the baseline number, and the current inspection task is not completed, the movement control methods for the inspection robot in the subsequent moving track include: Determine whether the feature information is inconsistent with the baseline feature information; If the feature information is not continuous and inconsistent with the baseline feature information, continue detection; If the feature information is inconsistent with the baseline feature information, the error rate is determined by analyzing and matching the lap count information, travel distance information and error rate stored in the preset error database. The error rate corresponding to the lap count information and travel distance information is determined by inputting the lap count information and travel distance information into the error database and matching the error rate corresponding to the lap count information and travel distance information from the error database. The movement distance information is corrected based on the error rate to allow the inspection robot to move until the inspection task is completed.

4. The inspection robot positioning method according to claim 1, characterized in that, When outputting the number of corrections, the detection methods for the moving track include: Obtain the current orbit image information of the current moving orbit; Determine whether the track features in the track image information are consistent with the preset reference track features; If the track features in the track image information are inconsistent with the reference track features, then an identification mark will be made in the track image information and a prompt will be given. If the track features in the track image information are consistent with the reference track features, the current humidity detection information of the moving track is obtained. The humidity detection information is obtained by detecting the humidity on the track through a humidity sensor to determine whether the track is slipping due to high humidity. Determine whether the humidity value corresponding to the humidity detection information is greater than the preset reference humidity value; If the humidity value corresponding to the humidity detection information is not greater than the reference humidity value, a prompt will be issued; If the humidity value corresponding to the humidity detection information is greater than the reference humidity value, the preset drying device will be controlled to perform drying at the point where the humidity value corresponding to the humidity detection information is greater than the reference humidity value.

5. The method for positioning an inspection robot according to claim 1, characterized in that, When outputting the number of correction cycles, the detection methods for the RFID tag include: Obtain the current distance detection information between each RFID tag on the moving track and the preset reference point; Determine whether the distance value corresponding to the distance detection information is consistent with the preset reference distance value; If the distance value corresponding to the distance detection information is consistent with the reference distance value, the verification is complete; If the distance value corresponding to the distance detection information is inconsistent with the reference distance value, then it should be marked; Determine whether the RFID tag adjacent to the marked area is marked; If an RFID tag adjacent to the marked area is marked, a warning will be issued; If the RFID tag adjacent to the marked area is not marked, then it shall be marked.

6. The method for positioning an inspection robot according to claim 1, characterized in that, The feature information includes dots and QR codes, and the points corresponding to the horizontal and vertical coordinates are defined as positioning points; When feature information is inconsistent with baseline feature information, the methods for identifying and correcting feature information include: Obtain the dot and the QR code, and calculate the distance between the dot and the QR code; Determine whether the spacing is consistent with the preset reference spacing at the positioning point; If the spacing distance is inconsistent with the spacing distance at the positioning point, calculate the spacing difference between the spacing distance and the reference spacing distance; The system analyzes and matches the spacing differences and adjustment angles stored in the preset spacing database to determine the adjustment angle corresponding to the spacing difference, and controls the camera to rotate according to the adjustment angle. If the spacing distance is consistent with the spacing distance at the positioning point, then determine whether the content recognized by the QR code is consistent with the preset reference content at the positioning point. If the content identified by the QR code matches the reference content at the positioning point, then the identification and correction of the feature information is complete. If the content recognized by the QR code is inconsistent with the reference content at the positioning point, a prompt will be displayed.

7. A positioning system for an inspection robot, characterized in that, include: The acquisition module is used to acquire tag recognition information, movement distance information, feature information, signal source, number of revolutions information, track image information, humidity detection information, distance detection information, dots, and QR codes; A memory for storing the program of the inspection robot positioning method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the inspection robot positioning method as described in any one of claims 1 to 6.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the inspection robot positioning methods as claimed in claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that can be loaded by a processor and executed as any one of the inspection robot positioning methods as claimed in claims 1 to 6.

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