A path planning method based on industrial-grade 5G inspection robot

Abstract

The present invention discloses a path planning method based on an industrial-grade 5G inspection robot, comprising the following steps: 1) adding a preset path, and adding preset auxiliary marks on any one side or both sides of the preset path; 2) enabling the inspection robot to move along the preset path, and determining whether there are obstacles on the preset path; 3) using preset auxiliary marks to assist in changing the running path of the inspection robot, so that the inspection robot bypasses obstacles and completes the preset path.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection robots, and in particular to a path planning method based on an industrial-grade 5G inspection robot. Background Art

[0002] Today's society is gradually entering the era of intelligence. The discovery of traditional industrial production problems relies on manual labor, which cannot be discovered in advance and is prone to production failures. The industrial 5G intelligent inspection robot not only reduces manpower consumption and technical problems, but also accurately provides inspection data through the existing high reliability, low latency, and high stability. It makes the inspection robot more intelligent and becomes a more reliable inspection method in today's society. However, in actual applications, when the inspection robot encounters an obstacle, it will not be able to complete the entire path and successfully return to the charging point for automatic charging, which will eventually lead to power exhaustion. Summary of the invention

[0003] The purpose of the present invention is to provide a path planning method based on an industrial-grade 5G inspection robot.

[0004] To achieve the above object, the present invention adopts the following contents:

[0005] A path planning method based on an industrial-grade 5G inspection robot includes the following steps:

[0006] 1) Add a preset path and add preset auxiliary marks on any one or both sides of the preset path;

[0007] 2) Make the inspection robot move along a preset path and determine whether there are obstacles on the preset path;

[0008] 3) The inspection robot’s running path is changed by using preset auxiliary marks, so that the inspection robot can bypass obstacles and complete the preset path.

[0009] Preferably, step 1) is as follows:

[0010] 1.1) Add several master nodes and slave nodes on the preset path, mark the master nodes as A1, A2, A3...An; mark the slave nodes as B1, B2, B3...Bn.

[0011] Preferably, step 3) is as follows:

[0012] 3.1) If there is no obstacle on the main node, continue to move in a circular motion along the direction of the main node (A1, A2, A3...An) in sequence.

[0013] 3.2) If one of the main nodes has an obstacle, determine whether the corresponding secondary node of the main node can avoid the obstacle.

[0014] 3.3) If the corresponding sub-node is unobstructed, the inspection robot selects the path of the sub-node to continue the operation and repeats the above process until it reaches the target area.

[0015] 3.4) If there is an obstacle at the secondary node, rotate the robot and move along the executed path until it reaches the starting point for charging.

[0016] Preferably, step 1) is specifically as follows: adding a preset path, and marking both sides of the preset path as no-travel areas.

[0017] Preferably, the specific steps in step 2) are as follows: 2.1) The inspection robot is made to move along a preset path, and a distance sensor is installed on the inspection robot to determine whether there are obstacles on the preset path.

[0018] Preferably, the specific steps in step 2) are as follows: 2.2) If there is an obstacle, measure and obtain the midpoint of the distance between the prohibited areas on both sides and the obstacle, select the shortest and optimal midpoint from the target area as the next inspection path, and repeat the following processing until the target area is reached.

[0019] Preferably, the master node An corresponds one-to-one to the slave nodes Bn, and the slave nodes Bn are connected to the master node An+1.

[0020] Preferably, 1) the inspection area is divided into several areas, several preset paths are designed in the divided areas, and preset auxiliary marks are added on either one side or both sides of the preset paths;

[0021] 2) A spectrum analyzer is installed in the inspection robot, so that the inspection robot can collect the signal strength of the current location and the surrounding area in real time during the inspection process, and store the signal.

[0022] 3) Dynamically generate the primary and secondary nodes of the next inspection path of the area according to the signal strength of all the last storage locations in the divided area and the locations, take the weakest signal as the primary node, select the weakest signal as the new secondary node in the area where the distance from all nodes is greater than the set threshold, and continue to repeat the above operation to generate other secondary nodes until all secondary nodes are selected. The present invention has the following advantages:

[0023] This application designs a path planning method that can effectively control the inspection robot to avoid obstacles in the workshop and effectively adapt to the cluttered environment of the workshop and other places. In the face of many obstacles in the workshop and the production situation of moving anytime and anywhere, it effectively solves the coexistence problem of the inspection robot returning to charge or continuing to find a path. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0025] Figure 1 It is a schematic diagram of a path planning method based on an industrial-grade 5G inspection robot of the present invention.

[0026] Figure 2 The invention is a method for path planning based on an industrial-grade 5G inspection robot. Figure 1 Schematic diagram of the logical structure.

[0027] Figure 3 It is a module schematic diagram of a path planning method based on an industrial-grade 5G inspection robot of the present invention.

[0028] Figure 4 It is a logical module schematic diagram of a path planning method based on an industrial-grade 5G inspection robot of the present invention. DETAILED DESCRIPTION

[0029] In order to explain the present invention more clearly, the present invention is further described below in conjunction with preferred embodiments. It should be understood by those skilled in the art that the content described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] like Figures 1 to 4 As shown, a path planning method based on an industrial-grade 5G inspection robot includes the following steps:

[0033] 1) Add a preset path and add preset auxiliary marks on any one or both sides of the preset path;

[0034] 2) Make the inspection robot move along a preset path and determine whether there are obstacles on the preset path;

[0035] 3) The inspection robot’s running path is changed by using preset auxiliary marks, so that the inspection robot can bypass obstacles and complete the preset path.

[0036] It is worth mentioning that 5G inspection robots can be used in factory workshops, communities, public roads, etc. At the beginning of their work, they need to set a working path, that is, the working path of 5G inspection robots is usually a loop or other linear paths, which is quite different from the way household sweeping robots work in a plane.

[0037] However, when facing different occasions, the technical problems that need to be dealt with are different: for example, on public roads, when the 5G patrol robot needs to work along a preset path, it will encounter a variety of temporary obstacles, such as parked cars, temporary signs of the traffic management department, etc., which will seriously interfere with the preset working path of the 5G patrol robot. Based on this, Example 2 in this application solves the problem of the 5G patrol robot in this occasion.

[0038] In the workshop of an automated assembly factory, due to issues such as equipment assembly and debugging, additional space will be temporarily occupied, thereby encroaching on the preset path, which usually lasts half a day to a day. At this time, the workshop is not suitable for the 5G inspection robot to force work. Based on this, Example 1 of the present application solves the problem of the 5G inspection robot in this situation.

[0039] However, the 5G patrol robot encounters many pedestrians in the community, and children, the elderly and others have greater freedom of movement and irregular movement direction. Based on this, Example 3 of the present application solves the problem of the 5G patrol robot in this situation.

[0040] Further, step 1) is as follows:

[0041] 1.1) Add several master nodes and slave nodes on the preset path, mark the master nodes as A1, A2, A3...An; mark the slave nodes as B1, B2, B3...Bn.

[0042] Further, step 3) is as follows:

[0043] 3.1) If there is no obstacle on the main node, continue to move in a circular motion along the direction of the main node (A1, A2, A3...An) in sequence.

[0044] 3.2) If one of the master nodes has an obstacle, determine whether the slave node corresponding to the master node can avoid the obstacle.

[0045] 3.3) If the corresponding sub-node is unobstructed, the inspection robot selects the path of the sub-node to continue the operation and repeats the above process until it reaches the target area.

[0046] 3.4) If there is an obstacle at the secondary node, rotate the robot and move along the executed path until it reaches the starting point for charging.

[0047] Further, step 1) is as follows

[0048] Add a preset path and mark both sides of the preset path as prohibited areas.

[0049] Furthermore, the specific steps in step 2) are as follows:

[0050] 2.1) Make the inspection robot move along a preset path, and install a distance sensor on the inspection robot to determine whether there are obstacles on the preset path.

[0051] Furthermore, the specific steps in step 2) are as follows:

[0052] 2.2) If there is an obstacle, measure and obtain the midpoint of the distance between the prohibited areas on both sides and the obstacle, select the shortest and optimal midpoint from the target area as the next inspection path, and repeat the following process until the target area is reached.

[0053] The master node An corresponds one-to-one to the slave nodes Bn, and the slave nodes Bn are connected to the master node An+1.

[0054] Further, 1) the inspection area is divided into several areas, several preset paths are designed in the divided areas, and preset auxiliary marks are added on either one side or both sides of the preset paths;

[0055] 2) A spectrum analyzer is installed in the inspection robot, so that the inspection robot can collect the signal strength of the current location and the surrounding area in real time during the inspection process, and store the signal.

[0056] 3) Dynamically generate the primary and secondary nodes of the next inspection path of the area based on all the last storage locations in the divided area and the signal strength of the location. Take the weakest signal as the primary node, and select the weakest signal as the new secondary node in the area where the distance from all nodes is greater than the set threshold. Repeat the above operation to generate other secondary nodes until all secondary nodes are selected. Example

[0057] Figure 1 This is a flow chart of the industrial 5G inspection robot path planning method provided in Example 1 of the present invention.

[0058] Reference Figure 1 , the inspection robot path planning method includes:

[0059] Step S101, preset a path in the workshop, and perform circular motion from the starting point of the target area along the preset direction.

[0060] Step S102: When there is an obstacle in the preset direction, avoid the obstacle by selecting a secondary node path and run to the end point of the target area.

[0061] Step S103, when there are obstacles on both the primary and secondary node paths, the inspection robot is rotated and returns to the target point along the executed path for charging.

[0062] Step S104, the inspection robot starts timing when it has not completed the preset path and returns to charge, and after an interval of 2 hours, it re-executes step S101.

[0063] like Figure 2 As shown, step S102 also includes repeatedly performing the following processing until the target point is reached for charging:

[0064] Determine whether there is an obstacle at the main node. If so, execute step S202. If not, continue to execute step S101, that is, continue to perform circular motion along the main node path.

[0065] Determine whether there is an obstacle at the secondary node. If so, execute step S204 until reaching the target point for charging; if not, continue to execute the preset path until reaching the target point.

[0066] By returning the 5G inspection robot along the path in a timely manner, the assembly construction in the workshop will not be affected, and the inspection will continue within the specified time after the return, ensuring safety and other technical effects. Example

[0067] Figure 3 A schematic diagram of the inspection robot path planning provided in the second embodiment of the present invention.

[0068] Reference Figure 3 , inspection robot path planning, including:

[0069] The prohibited module 1 is used for performing a circular motion along a preset direction from a starting point of a target area;

[0070] The obstacle avoidance module 2 is used to, when there is an obstacle in the non-prohibited direction, measure the distance between the prohibited edge and the obstacle, select the midpoint between the two to move to avoid the obstacle, and run to the end point of the target area.

[0071] S1: According to the road regulations of the traffic control department and the map, a preset path is set, and a no-driving zone is set 3 meters on both sides of the preset path;

[0072] S2: When the inspection robot travels along the preset road, after detecting an obstacle ahead, it measures the distance from the obstacle to the prohibited areas on both sides, and calculates the distance between the midpoint of the two distances and the inspection robot;

[0073] S3: Select the shorter distance to execute the next step;

[0074] By continuously selecting wider areas as the next passage location, the passage effect of the inspection robot is effectively guaranteed.

[0075] It is worth mentioning that when the inspection robot encounters an obstacle and cannot pass between the obstacle and the prohibited area, the inspection robot can set two operation modes: 1. Return directly to the initial point and feedback the operation path in time to cooperate with the specific management department to deal with it;

[0076] 2. Return to the location of the last step S2, select a longer distance to execute the next step, and if there are still obstacles, return to the initial point. Example

[0077] 1) The public area of ​​the community is divided into several areas, such as lawn area, main road area, garden area, area near the gate, etc.

[0078] Designing a number of preset paths in the divided area, and adding preset auxiliary marks on either or both sides of the preset paths;

[0079] 2) Equip the inspection robot with a spectrum analyzer so that the inspection robot can collect the signal strength of the current location and the surrounding area in real time during the inspection process and store it. The movement of objects around the inspection robot can be obtained in real time;

[0080] 3) Dynamically generate the main and secondary nodes of the next inspection path of the area based on all the last storage locations in the divided area and the signal strength of the location. Take the weakest signal as the main node, and select the weakest signal as the new secondary node in the area where the distance from all nodes is greater than the set threshold. Repeat the above operation to generate other secondary nodes until all secondary nodes are selected.

[0081] The 5G inspection robot uses a spectrum analyzer to continuously update and select new path nodes. It can have a good avoidance effect on groups with greater freedom, such as crowds, and can also ensure the completion of the inspection purpose of the entire community.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A path planning method based on an industrial-grade 5G inspection robot, characterized in that: The following steps are involved: Step 1: Add a preset path and add preset auxiliary marks on any one or both sides of the preset path; Step 2: Make the inspection robot move along a preset path and determine whether there are obstacles on the preset path; Step 3: Use preset auxiliary marks to change the running path of the inspection robot so that the inspection robot can bypass obstacles and complete the preset path; Step 1 is as follows: 1.1 Add several master nodes and slave nodes on the preset path, mark the master nodes as A1, A2, A3...An; mark the slave nodes as B1, B2, B3...Bn; Step 3 is as follows: 3.1 If there is no obstacle on the main node, continue to move in a circular motion along the main nodes A1, A2, A3...An direction in sequence; 3.2 If one of the main nodes has an obstacle, determine whether the secondary node corresponding to the main node can avoid the obstacle; 3.3 If the corresponding sub-node is unobstructed, the inspection robot selects the path of the sub-node to continue the operation and repeats the above process until it reaches the target area; 3.4 If there is an obstacle at the secondary node, rotate the robot and move along the executed path until it reaches the starting point for charging.

2. According to claim 1, a path planning method based on an industrial-grade 5G inspection robot is characterized in that: Step 1 is as follows: Add a preset path and mark both sides of the preset path as prohibited areas.

3. A path planning method based on an industrial-grade 5G inspection robot according to claim 2, characterized in that: The specific steps in step 2 are as follows: 2.1 Make the inspection robot move along a preset path, and install a distance sensor on the inspection robot to determine whether there are obstacles on the preset path.

4. A path planning method based on an industrial-grade 5G inspection robot according to claim 3, characterized in that: The specific steps in step 2 are as follows: 2.2 If there is an obstacle, measure and obtain the midpoint of the distance between the prohibited areas on both sides and the obstacle, select the midpoint with the shortest distance to the target area as the next inspection path, and repeat the following process until the target area is reached.

5. The path planning method based on an industrial-grade 5G inspection robot according to claim 1 is characterized in that: The master node An corresponds one-to-one to the slave nodes Bn, and the slave nodes Bn are connected to the master node An+1.

6. A path planning method based on an industrial-grade 5G inspection robot according to claim 1, characterized in that: 1) Divide the inspection area into several areas, design several preset paths in the divided areas, and add preset auxiliary marks on either side or both sides of the preset paths; 2) A spectrum analyzer is installed in the inspection robot, so that the inspection robot collects the signal strength of the current location and the surrounding area in real time during the inspection process, and stores the information; 3) Dynamically generate the primary and secondary nodes of the next inspection path of the area based on all the last storage locations in the divided area and the signal strength of the location. Take the weakest signal as the primary node, and select the weakest signal as the new secondary node in the area where the distance from all nodes is greater than the set threshold. Repeat the above operation to generate other secondary nodes until all secondary nodes are selected.

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