Robot positioning method and system

Abstract

The present invention discloses a robot positioning method and system, wherein an inspection robot performs inspections along a preset first path, and when the inspection robot estimates that it has reached a first target position on the first path, it sends a calibration request to a correction robot; the correction robot scans the inspection robot according to the calibration request, and receives first reflection signals from two different positions on the inspection robot; the correction robot determines the actual position of the inspection robot according to the two first reflection signals, and sends the actual position to the inspection robot; the inspection robot adjusts its current position according to the actual position until it reaches the first target position; the correction robot is used as a mobile position correction base station, thereby avoiding the deployment of a large number of wireless positioning base stations at the inspection site, and realizing low-cost and high-precision indoor positioning of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot indoor positioning, and in particular to a robot positioning method and system. Background Art

[0002] With the advancement and development of science and technology, manual inspections are gradually being replaced by robotic inspections during industrial inspections. For example, in application scenarios such as substation inspections, mine inspections, and underground cable tunnel inspections, robotic inspections have begun to replace manual inspections for regular inspections to promptly detect faults in the above scenarios, thereby eliminating safety hazards in a timely manner.

[0003] During robotic inspections, accurate positioning is crucial. Positioning technology is a key enabler for industrial inspection robots. Principle-wise, indoor robot positioning methods include proximity detection, centroid, multilateration, fingerprinting, and dead reckoning. Technically, these include Wi-Fi, inertial navigation, Bluetooth beacons, RFID, infrared, ultrasonic, ultra-wideband, and machine vision.

[0004] In field applications, improving positioning accuracy often requires pre-deploying a large number of positioning base stations or beacons. However, deploying a large number of base stations in industrial plants presents several challenges: high cost, difficult construction, and the risk of technological obsolescence. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a robot positioning method and system to achieve robot indoor positioning at low cost and high precision.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0007] A robot positioning method comprises the steps of:

[0008] The inspection robot performs inspection along a preset first path, and when the inspection robot estimates that it reaches a first target position on the first path, sends a calibration request to the calibration robot;

[0009] The calibration robot scans the inspection robot according to the calibration request and receives first reflection signals from two different positions on the inspection robot;

[0010] The calibration robot determines the actual position of the inspection robot according to the two first reflection signals, and sends the actual position to the inspection robot;

[0011] The inspection robot adjusts its current position according to the actual position until it reaches the first target position.

[0012] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0013] A robot positioning system includes an inspection robot and a calibration robot. The inspection robot includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor. The calibration robot includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor. When the first processor executes the first computer program, each step performed by the inspection robot in the above-mentioned robot positioning method is implemented.

[0014] When the second processor executes the second computer program, each step of correcting the robot execution in the above robot positioning method is implemented.

[0015] The beneficial effects of the present invention are as follows: in the process of patrol inspection using a patrol robot, a correction robot is added, and the position of the patrol robot is accurately located with the help of the correction robot, and the position information after accurate positioning is sent to the patrol robot through the correction robot, so that the patrol robot adjusts its own position according to the accurate positioning until it reaches the target position on the accurate inspection path. On the one hand, it can avoid the problem of inaccurate positioning caused by the time-accumulated error in the patrol robot's own positioning system, and can promptly correct the offset of its docking. On the other hand, the correction robot is used as a mobile position correction base station, which avoids the deployment of a large number of wireless positioning base stations at the patrol site, thereby realizing the robot's indoor positioning at low cost and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flowchart of the steps of a robot positioning method according to an embodiment of the present invention;

[0017] Figure 2 Schematic diagram of the structure of a robot positioning system according to an embodiment of the present invention;

[0018] Figure 3 Schematic diagram of the structure of an inspection robot in a robot positioning method according to an embodiment of the present invention;

[0019] Figure 4 Schematic diagram of the structure of a correction robot in a robot positioning method according to an embodiment of the present invention;

[0020] Figure 5 A schematic diagram of inspection process trajectories of an inspection robot and a correction robot in a robot positioning method according to an embodiment of the present invention;

[0021] Figure 6Schematic diagram of robot position correction in a robot positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0023] Please refer to Figure 1 , a robot positioning method, comprising the steps of:

[0024] The inspection robot performs inspection along a preset first path, and when the inspection robot estimates that it reaches a first target position on the first path, sends a calibration request to the calibration robot;

[0025] The calibration robot scans the inspection robot according to the calibration request and receives first reflection signals from two different positions on the inspection robot;

[0026] The calibration robot determines the actual position of the inspection robot according to the two first reflection signals, and sends the actual position to the inspection robot;

[0027] The inspection robot adjusts its current position according to the actual position until it reaches the first target position.

[0028] From the above description, it can be seen that the beneficial effect of the present invention is that: in the process of patrolling with an inspection robot, a correction robot is added, and the position of the inspection robot is accurately located with the help of the correction robot, and the position information after accurate positioning is sent to the inspection robot through the correction robot, so that the inspection robot adjusts its own position according to the accurate positioning until it reaches the target position on the accurate inspection path. On the one hand, it can avoid the problem of inaccurate positioning caused by the time-accumulated error in the inspection robot's own positioning system, and can promptly correct the offset of its docking. On the other hand, the correction robot is used as a mobile position correction base station, which avoids the deployment of a large number of wireless positioning base stations at the inspection site, thereby realizing the robot's indoor positioning at low cost and high precision.

[0029] Furthermore, the steps include:

[0030] When the inspection robot detects a device failure during the inspection along the preset first path, the inspection robot sends a fault location request to the correction robot;

[0031] The correction robot scans the inspection robot according to the fault location request and receives second reflection signals from two different positions on the inspection robot;

[0032] The correction robot determines the current location of the inspection robot according to the two second reflection signals, and records the current location of the inspection robot as the fault location.

[0033] From the above description, it can be seen that during the inspection process of the inspection robot, if an equipment failure is detected, the inspection robot sends a fault location request to the correction robot, and the correction robot locates the inspection robot and records the current positioning position as the fault position. With the help of the correction robot, the accurate positioning and timely recording of the fault position are guaranteed.

[0034] Furthermore, the method further comprises the steps of:

[0035] The calibration robot performs inspection along a preset second path. When the calibration robot is estimated to reach a second target position on the second path, the calibration robot scans the inspection robot and receives third reflection signals from two different positions on the inspection robot.

[0036] The correction robot determines the actual position of the correction robot according to the two third reflection signals, and adjusts its current position according to the actual position until it reaches the second target position.

[0037] From the above description, it can be seen that the correction robot, while acting as a mobile position correction base station, also performs inspections according to a preset path, just like the inspection robot. During the inspection process, it uses the inspection robot to determine its own precise position, and through mutual correction with the inspection robot, the positioning accuracy is improved. At the same time, the inspection robot and the correction robot can perform inspection tasks in parallel, greatly improving the inspection efficiency.

[0038] Furthermore, the method further comprises the steps of:

[0039] When the calibration robot detects a device failure during the inspection along the preset second path, the calibration robot scans the inspection robot and receives fourth reflection signals from two different positions on the inspection robot;

[0040] The correction robot determines the current position of the correction robot according to the two fourth reflection signals, and records the current position of the correction robot as the fault position.

[0041] As can be seen from the above description, during the inspection process of the calibration robot, if an equipment fault is detected, the inspection robot is directly scanned and accurately positioned by the inspection robot, thereby quickly and accurately determining the fault location.

[0042] Furthermore, determining the actual position of the inspection robot according to the two first reflection signals includes:

[0043] The two different positions include a first position and a second position, wherein the first position is arranged on a vertical center line of the inspection robot;

[0044] determining a first distance between the first location and a second location;

[0045] determining, according to the two first reflected signals, angles corresponding to the two first reflected signals and a second distance between the correction robot and the second position;

[0046] The actual position of the inspection robot is determined according to the first distance, the second distance, and the angles corresponding to the two first reflection signals.

[0047] From the above description, it can be seen that by arranging two different positions on the inspection robot, and one of the positions is located on the vertical center line of the inspection robot, the actual position of the inspection robot can be determined conveniently and quickly through the distance between the two positions, the angles corresponding to the signals reflected at the two positions, and the distance between the correction robot and the other position, followed by the triangular relationship, with low cost and high speed.

[0048] Furthermore, in the polar coordinate system with the calibration robot as the pole, the actual position P1 of the inspection robot is:

[0049]

[0050] In the formula, d1 represents the first distance, l1 represents the second distance, θ1 represents the angle of the first reflection signal corresponding to the second position, and θ1+α1 represents the angle of the first reflection signal corresponding to the first position.

[0051] From the above description, it can be seen that with the help of the sine theorem and trigonometric function relationships, the inspection robot can be accurately positioned conveniently and quickly through a few known quantities, eliminating the need for the deployment of a large number of base stations and greatly reducing costs.

[0052] Furthermore, in the polar coordinate system with the inspection robot as the pole, the actual position P2 of the calibration robot is:

[0053]

[0054] In the formula, d2 represents the distance between two different positions on the inspection robot, the two different positions include a first position and a second position, the first position is set on the vertical center line of the inspection robot, l2 represents the distance between the second position and the correction robot, θ2 represents the angle of the first reflection signal corresponding to the second position, and θ2+α2 represents the angle of the first reflection signal corresponding to the first position.

[0055] It can be seen from the above description that since the inspection robot and the correction robot are mutually positioned, the inspection robot can also be used to accurately and quickly position the correction robot.

[0056] Furthermore, it is characterized in that the inspection robot includes a plurality of;

[0057] A plurality of the inspection robots perform inspections in parallel.

[0058] It can be seen from the above description that by arranging multiple inspection robots, the multiple inspection robots perform inspection operations in parallel, and through the mutual cooperation between the multiple inspection robots and the correction robot, the inspection efficiency is further improved.

[0059] Please refer to Figure 2 A robot positioning system includes an inspection robot and a calibration robot, wherein the inspection robot includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor, and the calibration robot includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor, wherein the first processor implements the steps performed by the inspection robot in the above-mentioned robot positioning method when executing the first computer program;

[0060] When the second processor executes the second computer program, each step of correcting the robot execution in the above robot positioning method is implemented.

[0061] Furthermore, the inspection robot includes a plurality of;

[0062] A plurality of the inspection robots perform inspections in parallel.

[0063] The robot positioning method and system of the present invention can be applied to indoor robot positioning in various inspection application scenarios, such as substation inspection, mine inspection, and underground cable tunnel inspection. The following is an explanation of the specific implementation methods:

[0064] Example 1

[0065] Please refer to Figure 1 , a robot positioning method, comprising the steps of:

[0066] S1. The inspection robot performs inspection along a preset first path. When the inspection robot estimates that it has reached a first target position on the first path, the inspection robot sends a calibration request to the calibration robot.

[0067] Wherein, the first path is composed of a set of first target positions, that is, the first path includes first target positions one after another, and each time the inspection robot estimates that it has reached a first target position, a correction request is sent to the correction robot. For example, the first path is composed of a set {A1, A2, ..., An}, where A1, A2, ..., An are first target positions on the first path, and a set consisting of all first target positions constitutes the first path. Then, each time the inspection robot estimates that it has reached a first target position Ai, i = 1, 2, ..., n, a correction request is sent to the correction robot;

[0068] like Figure 3 As shown, the inspection robot includes an inertial navigation unit 11, a wireless communication unit 13 and a vehicle body 14, wherein the inertial navigation unit 11 and the wireless communication unit 13 are arranged on the vehicle body 14;

[0069] like Figure 4 As shown, the calibration robot includes an inertial navigation unit 21, a wireless communication unit 23 and a vehicle body 24, wherein the inertial navigation unit 21 and the wireless communication unit 23 are arranged on the vehicle body 24;

[0070] Among them, the inertial navigation units 11 and 21 are composed of a 3-axis MEMS gyroscope chip, a 3-axis MEMS accelerometer chip, a 3-axis MEMS electronic compass chip, and a MEMS barometric altimeter chip, and are used to collect inertial posture information and position information of the inspection robot and the calibration robot;

[0071] The inspection robot realizes self-positioning through the inertial navigation unit 11 configured thereon and evaluates the position it has reached;

[0072] The wireless communication units 12 and 22 are used for communication between the inspection robot and the correction robot;

[0073] S2. The calibration robot scans the inspection robot according to the calibration request and receives first reflection signals from two different positions on the inspection robot;

[0074] S3. The calibration robot determines the actual position of the inspection robot according to the two first reflection signals, and sends the actual position to the inspection robot;

[0075] like Figure 3As shown, the inspection robot further includes a corner reflector unit 13, which includes at least two right-angle reflectors. The at least two right-angle reflectors are located at different positions of the inspection robot. The corner reflector is a light-returning device with a cylindrical light-transmitting surface and three mutually orthogonal reflective surfaces. The corner reflector unit is used to reflect the incident light three times on the three reflective surfaces on the bottom surface of the corner reflector and return it in the opposite direction of the incident direction of the light.

[0076] like Figure 4 As shown, the calibration robot further includes a laser radar unit 23, which is used to emit laser light and scan the inspection robot, and receive the reflected signal returned from the right-angle reflector of the inspection robot, thereby measuring the relative distance and angle between the inspection robot and the calibration robot, thereby realizing the positioning of the inspection robot;

[0077] The vehicle bodies 14 and 24 are used to carry the inspection robot's power and detection equipment, as well as the aforementioned inertial navigation unit 11, wireless communication unit 12, corner reflection unit 13, inertial navigation unit 21, wireless communication unit 22, and laser radar unit 23;

[0078] S4, the inspection robot adjusts its current position according to the actual position until it reaches the first target position;

[0079] After receiving the actual position sent by the calibration robot, the inspection robot compares the actual position with the first target position it estimates to reach on the preset first path, determines the deviation between the two, and then makes a correction adjustment to the current position of the inspection robot according to the deviation until it reaches the first target position;

[0080] In an optional embodiment, it can be determined whether the deviation is less than a preset threshold. If so, it indicates that the deviation has been adjusted, and the inspection robot is already on the correct preset first path and has not deviated from the preset first path. If not, after the inspection robot reaches a position after adjusting the deviation, a calibration request is sent to the calibration robot again, and the above steps S2 and S3 are repeated until the deviation is less than the preset threshold.

[0081] In an optional embodiment, the method further comprises the steps of:

[0082] When the inspection robot detects a device failure during the inspection along the preset first path, the inspection robot sends a fault location request to the correction robot;

[0083] That is, when the inspection robot is moving forward, if the detection instrument it carries finds a device fault, it will immediately stop to detect it and send a fault location request to the calibration robot;

[0084] The correction robot scans the inspection robot according to the fault location request and receives second reflection signals from two different positions on the inspection robot;

[0085] The calibration robot determines the current position of the inspection robot according to the two second reflection signals, and records the current position of the inspection robot as the fault position;

[0086] The current location of the inspection robot is determined in the same manner as the actual location of the inspection robot in the previous embodiment;

[0087] After the correction robot records the current location of the inspection robot as the fault location, it sends a positioning completion response to the inspection robot. After receiving the positioning completion response information, the inspection robot continues to move to the next first target location.

[0088] Example 2

[0089] This embodiment differs from the first embodiment in that the calibration robot is further limited to be a member of the inspection work and performs the inspection operation. Specifically, the steps are further included:

[0090] The calibration robot performs inspection along a preset second path. When the calibration robot is estimated to reach a second target position on the second path, the calibration robot scans the inspection robot and receives third reflection signals from two different positions on the inspection robot.

[0091] The second path is composed of a set of second target positions, that is, the second path includes second target positions one after another, and whenever the correction robot is estimated to reach a second target position, the inspection robot is scanned. For example, the second path is composed of a set {B1, B2, ..., Bn}, where B1, B2, ..., Bn are second target positions on the second path, and all second target positions constitute a set to form the second path. Then, whenever the correction robot is estimated to reach a second target position Bi, i = 1, 2, ..., n, the inspection robot is scanned;

[0092] The correction robot determines the actual position of the correction robot according to the two third reflection signals, and adjusts its current position according to the actual position until it reaches the second target position;

[0093] In an optional embodiment, the method further comprises the steps of:

[0094] When the calibration robot detects a device failure during the inspection along the preset second path, the calibration robot scans the inspection robot and receives fourth reflection signals from two different positions on the inspection robot;

[0095] The correction robot determines a current position of the correction robot according to the two fourth reflection signals, and records the current position of the correction robot as a fault position;

[0096] The method for determining the actual position of the calibration robot is the same as that for determining the actual position of the inspection robot in the previous embodiment. That is, the position of the inspection robot relative to the calibration robot is determined in the previous embodiment, while the position of the calibration robot relative to the inspection robot is determined in this embodiment. A simple conversion between the two can be performed.

[0097] In this embodiment, the current location of the calibration robot is determined in the same manner as the actual location of the calibration robot.

[0098] Example 3

[0099] This embodiment further defines how to locate the inspection robot or the calibration robot based on the reflected signals sent from two different positions of the inspection robot. Specifically:

[0100] Determining the actual position of the inspection robot according to the two first reflection signals includes:

[0101] The two different positions include a first position and a second position, wherein the first position is arranged on a vertical center line of the inspection robot;

[0102] determining a first distance between the first location and a second location;

[0103] determining, according to the two first reflected signals, angles corresponding to the two first reflected signals and a second distance between the correction robot and the second position;

[0104] Determine the actual position of the inspection robot according to the first distance, the second distance, and the angles corresponding to the two first reflection signals;

[0105] In an optional embodiment, in a polar coordinate system with the calibration robot as the pole, the actual position P1 of the inspection robot is:

[0106]

[0107] Wherein, d1 represents the first distance, l1 represents the second distance, θ1 represents the angle of the first reflected signal corresponding to the second position, and θ1+α1 represents the angle of the first reflected signal corresponding to the first position;

[0108] After determining the actual position of the inspection robot in the polar coordinate system with the calibration robot as the pole, the first target position estimated to be reached by the inspection robot on the preset first path is also converted into the polar coordinate system with the calibration robot as the pole, so as to facilitate comparison between the two and thereby determine the deviation between the two;

[0109] In another optional embodiment, in a polar coordinate system with the inspection robot as the pole, the actual position P2 of the calibration robot is:

[0110]

[0111] Wherein, d2 represents the distance between two different positions on the inspection robot, the two different positions include a first position and a second position, the first position is set on the vertical center line of the inspection robot, l2 represents the distance between the second position and the calibration robot, θ2 represents the angle of the first reflection signal corresponding to the second position, and θ2+α2 represents the angle of the first reflection signal corresponding to the first position;

[0112] In another optional embodiment, the inspection robot includes a plurality of;

[0113] A plurality of the inspection robots perform inspections in parallel;

[0114] In order to facilitate the calibration robot to obtain the reflected signal from the inspection robot, in an optional embodiment, as shown in FIG. Figure 3 As shown, the corner reflection unit 13 may include a right-angle reflector A, a right-angle reflector B and a right-angle reflector C;

[0115] In another optional embodiment, the right-angle reflector A, the right-angle reflector B, and the right-angle reflector C are on a straight line, and the straight line is perpendicular to the longitudinal direction of the inspection robot body 14;

[0116] In another optional embodiment, the right-angle reflector B is on the vertical center line of the patrol robot, and the right-angle reflectors A and C are symmetrically installed on both sides of the right-angle reflector B, that is, the distance between the right-angle reflector A and the right-angle reflector B is d, and the distance between the right-angle reflector C and the right-angle reflector B is also d. In this way, positioning can be performed by using both reflectors A and C, or by using both reflectors B and C, which is more convenient and flexible.

[0117] The following combination Figure 5 、 6 A specific implementation method is used to illustrate how to perform robot positioning:

[0118] Step 1: If Figure 5 As shown, the inspection robot and the correction robot arrive at the starting positions P10 and P20;

[0119] Step 2: The inspection robot moves along the planned inspection route, with the destination being the first stop point P11. It plans to stop at the first stop point P11 to wait for the calibration robot to perform position calibration.

[0120] Step 3: The inspection robot estimates its own position based on its own inertial navigation unit 11. Due to the time accumulation error of the inertial navigation unit 11, the actual docking position of the inspection robot is P11', and there is an offset between P11' and P11;

[0121] Step 4: The inspection robot notifies the correction robot to perform position correction via the wireless communication unit 12;

[0122] Step 5: The calibration robot uses the laser radar unit 23 to scan and obtains two strong reflection signals in the direction of the patrol robot. These signals come from the two reflection signals of corner reflectors A and B or B and C, respectively. The corresponding angles are θ and θ+α or θ+α and θ+α+β, respectively. The sending and receiving time difference corresponding to corner reflector A is τ1, and the sending and receiving time difference corresponding to corner reflector C is τ3.

[0123] The following example illustrates the situation where the reflected signals from corner reflectors A and B are received, the corresponding angles are θ and θ+α, and the corresponding transmit and receive time of corner reflector A is τ1:

[0124] like Figure 6 As shown, according to the triangle sine theorem:

[0125]

[0126] Where ∠AOB = α, |AB| = d, |AO| = c*τ1, c is the speed of light;

[0127] so:

[0128]

[0129] According to the triangle interior angle theorem, ∠AOB+∠ABO+∠OAB=π, ∠OAB=π-∠AOB-∠ABO, so:

[0130]

[0131] so:

[0132]

[0133] Where |AB| = d, ∠AOB = α, and ∠OAB = π-α-arcsin(|AO| / |AB|*sin∠AOB), so:

[0134]

[0135]

[0136] Therefore, in the polar coordinate system with the positioning robot as the pole, the position coordinate P11' of the inspection robot is (|OB|, θ+α), that is, the position coordinate P11' of the inspection robot is:

[0137]

[0138] Step 6: The calibration robot sends the position coordinates of P11' to the inspection robot via the wireless communication unit 22;

[0139] Step 7: The inspection robot gradually adjusts its position according to the P11' coordinates until it reaches the first stop point P11;

[0140] Step 8: If the inspection robot detects a fault in the equipment during its progress, it will immediately stop for inspection. Through the above steps 4 and 5, it will notify the calibration robot to locate the inspection robot and record the coordinates of the fault location. After the inspection, the inspection robot will continue to P11.

[0141] Step 9: Figure 5 As shown, the calibration robot moves along the pre-planned inspection route, with the target being the first stop point P21. The calibration robot estimates its own position based on its own inertial navigation unit 21. Due to the time-accumulated error of the inertial navigation unit 21, the calibration robot actually stops at P21', and there is an offset between P21' and P21.

[0142] Step 10: Repeat the above step 5 process to calibrate the robot to obtain the position of P21' relative to the inspection robot. That is, in the polar coordinates with the inspection robot as the pole, the coordinates of P21' are:

[0143]

[0144] Step 11: The calibration robot gradually adjusts its position according to the P21' coordinates until it reaches the first stop point P21;

[0145] Step 12: Repeat steps 2 to 11. The inspection robot and the calibration robot complete the entire inspection work and record the location of the equipment failure.

[0146] Example 4

[0147] Please refer to Figure 2 A robot positioning system includes an inspection robot and a calibration robot, wherein the inspection robot includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor, and the calibration robot includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor, wherein when the first processor executes the first computer program, each step performed by the inspection robot in a robot positioning method as described in any one of embodiments 1 to 3 is implemented;

[0148] When the second processor executes the second computer program, each step of correcting the robot execution in the robot positioning method described in any one of embodiments 1 to 3 is implemented;

[0149] In an optional embodiment, the inspection robot includes a plurality of;

[0150] A plurality of the inspection robots perform inspections in parallel.

[0151] In summary, the present invention provides a robot positioning method and system. During the inspection process using a patrol robot, a correction robot is added. The patrol robot and the correction robot perform inspections in parallel. With the help of the mutual cooperation of the correction robot and the patrol robot for accurate positioning, the positions of the patrol robot and the correction robot can be accurately positioned, so that the patrol robot and the correction robot can adjust their own positions according to the accurate positioning until they reach the target position on the accurate inspection path. On the one hand, it can avoid the problem of inaccurate positioning caused by the time-accumulated error in the robot's own positioning system, and can promptly correct the offset of its docking. On the other hand, the correction robot is used as a mobile position correction base station, avoiding the deployment of a large number of wireless positioning base stations at the inspection site, thereby realizing low-cost and high-precision indoor positioning of the robot.

[0152] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot positioning method, characterized in that: Including steps: The inspection robot performs inspection along a preset first path, and when the inspection robot estimates reaching a first target position on the first path, sends a calibration request to the calibration robot; The calibration robot scans the inspection robot according to the calibration request and receives first reflection signals from two different positions on the inspection robot; The calibration robot determines the actual position of the inspection robot according to the two first reflection signals, and sends the actual position to the inspection robot; The inspection robot adjusts its current position according to the actual position until it reaches the first target position; The calibration robot performs inspection along a preset second path. When the calibration robot is estimated to reach a second target position on the second path, the calibration robot scans the inspection robot and receives third reflection signals from two different positions on the inspection robot. The correction robot determines the actual position of the correction robot according to the two third reflection signals, and adjusts its current position according to the actual position until it reaches the second target position; When the calibration robot detects a device failure during the inspection along the preset second path, the calibration robot scans the inspection robot and receives fourth reflection signals from two different positions on the inspection robot; The correction robot determines a current position of the correction robot according to the two fourth reflection signals, and records the current position of the correction robot as a fault position; Determining the actual position of the inspection robot according to the two first reflection signals includes: The two different positions include a first position and a second position, wherein the first position is arranged on a vertical center line of the inspection robot; determining a first distance between the first location and a second location; determining, according to the two first reflected signals, angles corresponding to the two first reflected signals and a second distance between the correction robot and the second position; The actual position of the inspection robot is determined according to the first distance, the second distance, and the angles corresponding to the two first reflection signals.

2. A robot positioning method according to claim 1, characterized in that: Also includes the steps: When the inspection robot detects a device failure during the inspection along the preset first path, the inspection robot sends a fault location request to the correction robot; The correction robot scans the inspection robot according to the fault location request and receives second reflection signals from two different positions on the inspection robot; The correction robot determines the current location of the inspection robot according to the two second reflection signals, and records the current location of the inspection robot as the fault location.

3. A robot positioning method according to claim 1, characterized in that: In the polar coordinate system with the calibration robot as the pole, the actual position P1 of the inspection robot is: Wherein, d1 represents the first distance, l1 represents the second distance, represents the angle of the first reflected signal corresponding to the second position, Represents the angle of the first reflected signal corresponding to the first position.

4. A robot positioning method according to claim 1, characterized in that: In the polar coordinate system with the inspection robot as the pole, the actual position P2 of the calibration robot is: Where d2 represents the distance between two different positions on the inspection robot, l2 represents the distance between the second position and the calibration robot, 2 represents the angle of the first reflected signal corresponding to the second position, Represents the angle of the first reflected signal corresponding to the first position.

5. A robot positioning method according to any one of claims 1 to 4, characterized in that: The inspection robots include a plurality of; A plurality of the inspection robots perform inspections in parallel.

6. A robot positioning system, comprising an inspection robot and a calibration robot, wherein the inspection robot comprises a first memory, a first processor, and a first computer program stored in the first memory and capable of running on the first processor, and the calibration robot comprises a second memory, a second processor, and a second computer program stored in the second memory and capable of running on the second processor, characterized in that: When the first processor executes the first computer program, each step performed by the inspection robot in the robot positioning method according to any one of claims 1 to 5 is implemented; When the second processor executes the second computer program, the steps of correcting the robot execution in the robot positioning method according to any one of claims 1 to 5 are implemented.

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