A single master multi-slave cooperative positioning highway litter cleaning system and method

Abstract

The application provides a single master multi-slave cooperative positioning highway lost object cleaning system and method, and belongs to the technical field of intelligent highway robots. The method comprises the following steps: S1, starting the master-slave robot; S2, the binocular camera of the master robot acquires the road surface image along the way and judges whether there is a lost object, if there is, step S3 is entered, otherwise step S4 is entered; S3, picking up the lost object; S4, confirming whether the inspection endpoint is reached according to the GPS positioning module of the inspection robot, if not, returning to step S1, otherwise stopping the operation of all devices and ending the inspection; and the system matched with the method, comprising a master robot and a slave robot, the master robot is an inspection robot (1), the slave robot comprises a picking robot (2) and at least two auxiliary positioning slaves (3); the application can improve the positioning accuracy and universality of the master-slave highway lost object cleaning system.

Description

Technical Field

[0001] This invention belongs to the field of intelligent highway robot technology, specifically relating to a highway debris cleaning system and method with single-master and multi-slave collaborative positioning. Background Technology

[0002] With the continuous increase in the length of highways and the year-on-year growth in the number of private cars, the amount of road debris on highways has increased, thereby increasing the difficulty and complexity of highway maintenance. Furthermore, the current highway maintenance process involves closing individual roads and dispatching professional maintenance personnel to clean up debris. This method introduces the danger of personnel directly contacting the highway, and the harsh environments such as high temperatures and extreme cold on highways, along with the long maintenance mileage, increase personnel costs and pose risks to the personal safety of maintenance workers. Therefore, realizing highway road maintenance and designing intelligent highway robots for automated road debris pickup is an inevitable requirement for the future.

[0003] Currently, the main drawbacks of the debris removal robots used for highway closure maintenance are as follows: For single-master-slave collaborative robots with the main unit mounted on the guardrail, the main unit can simultaneously perform traffic condition inspection and the debris removal and detection work described in this invention. However, if the maintenance lane is not a roadside lane, i.e., the positioning distance is far, the design limitations will greatly reduce the positioning accuracy of the slave unit, thus limiting the accuracy and reliability of the slave unit's debris removal function. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art and to provide a highway debris removal system and method with single master and multiple slave collaborative positioning, which can improve the positioning accuracy and versatility of the master and slave highway debris removal system.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A single-master, multi-slave collaborative positioning system for highway debris removal includes a master robot and slave robots. The master robot is an inspection robot, and the slave robots include a pickup robot and at least two auxiliary positioning slaves. The inspection robot includes a UWB master base station, a binocular camera, a GPS positioning module, and a walking mechanism. The walking mechanism is used to slide the inspection robot onto the highway guardrail and drive it to slide. The pickup robot includes a UWB tag, a recycling bin, a recycling mechanism, and a first drive mechanism. The recycling mechanism is used to pick up the target object and place it in the recycling bin, and the first drive mechanism is used to drive the pickup robot to walk on the ground. The auxiliary positioning slaves include a UWB slave base station and a second drive mechanism. The second drive mechanism is used to drive the auxiliary positioning slaves to walk on the ground.

[0007] Preferably, the inspection robot also includes a shell, with the UWB main base station and binocular camera mounted on the top of the shell, the GPS positioning module located inside the shell, and the walking mechanism located on the inner side of the shell. The walking mechanism includes an outer driven wheel, an inner driven wheel, and a driving wheel. The outer and inner driven wheels are rotatably connected to corresponding shafts, with the inner driven wheel located inside the outer driven wheel. The outer and inner driven wheels are used to secure the inspection robot to the highway guardrail. The driving wheel is connected to the output shaft of the drive motor. The sidewalls of the outer, inner, and driving wheels abut against the highway guardrail.

[0008] Preferably, the picking robot further includes a shell, a camera, an attitude sensor, and an odometer. The camera is located at the front end of the shell. The attitude sensor and odometer are located inside the shell. The UWB tag is located at the top of the shell. The recycling trough is also located at the top of the shell and is a top-opening trough. The front end of the recycling mechanism shell is provided with a robotic arm and a bucket, and the bucket is connected to the front end of the robotic arm. The first drive mechanism includes four wheels located at the bottom of the shell, at least one of which is connected to a drive motor.

[0009] Preferably, the UWB base station is located on the top of the auxiliary positioning slave device, and the second drive mechanism includes two drive wheels and one omnidirectional wheel; the drive wheels are connected to the drive motor, the drive wheels are installed on both sides of the bottom rear of the auxiliary positioning slave device, and the omnidirectional wheel is installed on the front end of the bottom of the auxiliary positioning slave device.

[0010] A method for clearing debris from highways using any of the above-described systems includes the following steps:

[0011] S1. Start the inspection robot and make it slide along the highway guardrail. The picking robot and the auxiliary positioning slave follow the inspection robot and move on the highway.

[0012] S2. The inspection robot's binocular camera acquires images of the road surface along the way and determines whether there are any lost objects. If there are, proceed to step S3; otherwise, proceed to step S4.

[0013] S3. Picking up lost items, which includes the following steps:

[0014] S31. Stop the movement of the inspection robot, the picking robot, and the auxiliary positioning slave, and confirm the two-dimensional coordinates of the picking robot and the lost object;

[0015] S32. Based on the result of step S31, drive the picking robot to continuously correct its own movement trajectory to the location of the lost object and pick it up.

[0016] S33. The inspection robot's binocular camera detects and confirms whether all lost items have been retrieved. If so, proceed to step S4; otherwise, return to step S31.

[0017] S4. Move the picking robot back to the side of the road and confirm whether the inspection destination has been reached according to the GPS positioning module of the inspection robot. If it has not been reached, return to step S1; otherwise, stop all equipment operation and end the inspection.

[0018] Preferably, in step S2, the inspection robot detects debris in the road surface images acquired by the binocular camera by using image thresholding and a deep learning model.

[0019] Preferably, step S31, determining the two-dimensional coordinates of the lost object, includes the following sub-steps:

[0020] S501. Delineate the region of interest based on the location of the debris detected in step S2 in the road surface image;

[0021] S502. Obtain a disparity map using a binocular camera and calculate the average disparity of the region of interest;

[0022] S503. Determine the two-dimensional coordinates of the lost object relative to the inspection robot using a binocular vision positioning algorithm.

[0023] Preferably, step S31, determining the location of the picking robot, includes the following specific steps:

[0024] S601. Switch the UWB on the auxiliary positioning slave device to tag mode in turn from the base station to obtain the two-dimensional coordinates of the auxiliary positioning slave device relative to the inspection robot.

[0025] S602. Based on the positioning information between the UWB tag on the picking robot and the UWB master base station and at least two UWB slave base stations, the TOA algorithm is used to determine the two-dimensional coordinates of the picking robot relative to the inspection robot.

[0026] Preferably, step S32 includes the following sub-steps:

[0027] S321. Based on the two-dimensional coordinates of the picking robot and the lost object obtained in step S31, calculate the slope and distance of the straight line between the two points.

[0028] S322. Based on the slope of the straight line between the two points obtained in step S321, the robot adjusts its own angle using the posture sensor; the distance traveled is calculated using the odometer, and the movement stops when the distance traveled is equal to the distance between the two points obtained in step S321.

[0029] Preferably, in step S322, image data is collected by a camera, and a visual algorithm is used to assist in adjusting the relative position of the picking robot and the lost object.

[0030] The beneficial effects of this invention are:

[0031] 1. By using an inspection robot and at least two auxiliary positioning robots, the precise positioning of the picking robot can be achieved through the location signal detection of the UWB base station and the TOA algorithm. The positioning accuracy of the picking robot is only affected by the ranging accuracy of the UWB base station on the UWB tag. Compared with the combination of a single inspection robot and a picking robot, the positioning effect is more accurate, and the difficulty of the master-slave positioning system and the complexity of positioning data calculation are reduced.

[0032] 2. After accurately locating the picking robot and the lost object, the picking robot can automatically pick up the lost object, which can realize the automation of the cleaning of lost objects during highway closure and maintenance, reduce the danger of personnel directly contacting the road surface and reduce labor costs.

[0033] 3. The computational burden of the present invention is concentrated on the main unit of the inspection robot, which can reduce the power consumption and cost of the three slave units (two auxiliary positioning slave units and the picking robot) and improve the overall endurance of the present invention during operation. Attached Figure Description

[0034] Figure 1 This is an overall flowchart of the implementation method of the present invention;

[0035] Figure 2 This is a schematic diagram of the master-slave robot deployment scenario of the present invention;

[0036] Figure 3 This is a schematic diagram of the inspection robot of the present invention;

[0037] Figure 4 This is a schematic diagram of the picking robot of the present invention;

[0038] Figure 5 This is a schematic diagram of the auxiliary positioning slave device of the present invention;

[0039] Figure 6 This is a schematic diagram illustrating the relative position determination of the three UWB base stations according to the present invention;

[0040] Figure 7 This is a schematic diagram illustrating the UWB tag positioning of the picking robot of the present invention.

[0041] Label name in the image:

[0042] 1. Inspection robot; 2. Pickup robot; 3. Auxiliary positioning slave device; 4. Highway guardrail; 5. Lost object; 6. Highway;

[0043] 11. Outer casing; 12. Walking mechanism; 121. Outer driven wheel; 122. Inner driven wheel; 123. Driving wheel; 13. UWB main base station; 14. Binocular camera;

[0044] 21. Housing; 211. Wheel; 22. UWB tag; 23. Recycling trough; 24. Camera; 25. Recycling mechanism;

[0045] 31. UWB from base station; 32. Wheel; 33. Caster wheel. Detailed Implementation

[0046] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0047] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0048] like Figure 1 As shown, a single-master multi-slave collaborative positioning highway debris removal system includes a master robot and slave robots. The master robot is an inspection robot 1, and the slave robots include a picking robot 2 and two auxiliary positioning slaves 3 (this embodiment uses two auxiliary positioning slaves 3, but more can be set according to actual needs, but two are preferred, which is the minimum number of auxiliary positioning slaves that can achieve accurate positioning).

[0049] like Figure 2 As shown, the inspection robot 1 includes a shell 11, a UWB main base station 13, a binocular camera 14, a GPS positioning module, and a walking mechanism 12. The UWB main base station 13 and the binocular camera 14 are located on the top of the shell 11. The UWB main base station is used to exchange signals with the UWB slave base stations to determine the relative positions of each base station (the specific principle will be detailed in the subsequent method description). The binocular camera 14 is used to collect images of the highway. The GPS positioning module is located inside the shell 11 and is used to determine the position of the inspection robot 1 to determine whether it has reached the inspection destination.

[0050] The walking structure 12 is located inside the outer shell 11. The walking mechanism 12 includes an outer driven wheel 121, an inner driven wheel 122, and a driving wheel 123. The outer driven wheel 121 and the inner driven wheel 122 are rotatably connected to corresponding shafts. The inner driven wheel 122 is located inside the outer driven wheel 121. The outer driven wheel 121 and the inner driven wheel 122 are used to fasten the inspection robot 1 onto the highway guardrail 4. In this embodiment, the inner driven wheel 122 is located above the outer driven wheel 121 (in reality, the top and bottom positions of the two can be reversed). The highway guardrail 4 is engaged between the outer driven wheel 121 and the inner driven wheel 122.

[0051] The drive wheel 123 is connected to the output shaft of the drive motor; the side walls of the outer driven wheel 121, the inner driven wheel 122 and the drive wheel 123 are in contact with the highway guardrail. In actual use, the drive motor drives the drive wheel 123 to rotate, thereby driving the inspection robot 1 to slide along the highway guardrail 4.

[0052] like Figure 3 As shown, the picking robot 2 includes a shell 21, a UWB tag 22, a recycling tank 23, a camera 24, a recycling mechanism 25, a first drive mechanism, an attitude sensor, and an odometer. The camera 24 is located at the front end of the shell 21. The camera 24 is used to capture images in front of the picking robot 2 to determine the situation of objects in front, to assist the picking robot 2 in positioning, and to improve its positioning accuracy, so as to pick up the leftover objects 5 faster and more effectively.

[0053] The attitude sensor and odometer are installed inside the housing 21. The attitude sensor is used to sense the orientation of the picking robot 2 and adjust the angle (or orientation) of the picking robot 2 accordingly. The odometer is used to record the distance traveled by the picking robot 2.

[0054] The UWB tag is set on the top of the housing 21, and the top of the housing 21 also has a recycling groove 23, which is a top-opening groove; the front end of the housing 21 of the recycling mechanism 25 is provided with a robotic arm and a bucket, and the bucket is connected to the front end of the robotic arm; the robotic arm controls the bucket to scoop up the leftover object 5 and put it into the recycling groove; it should be noted that the combination structure of robotic arm and bucket in the recycling mechanism 25 is only a preferred solution in this embodiment, and other solutions can also be used, such as a combination structure of robotic arm and robotic claw, as long as it can pick up the leftover object 5 and place it in the recycling groove 23;

[0055] The first drive mechanism includes four wheels 211 disposed at the bottom of the housing 21, wherein at least one wheel 211 is connected to a drive motor, and the opposite wheel 211 is able to turn synchronously with it, thereby controlling the movement direction of the picking robot 2.

[0056] like Figure 4As shown, the auxiliary positioning slave device 3 includes a UWB slave base station 31 and a second drive mechanism. The UWB slave base station 31 is located on the top of the auxiliary positioning slave device 3. The second drive mechanism includes two drive wheels 32 and a universal wheel 33. The drive wheels 32 are connected to a drive motor and are installed on both sides of the bottom rear of the auxiliary positioning slave device 3. The drive wheels 32 can turn synchronously to control the movement direction of the auxiliary positioning slave device 3. The universal wheel 33 is installed at the front end of the bottom of the auxiliary positioning slave device 3.

[0057] like Figure 5-7 As shown, the present invention also provides a method for cleaning up road debris using the above-described system, comprising the following steps:

[0058] S0. Relevant departments block off the inspection section and set up warning signs; (This step is the preferred step. In actual use, it can ensure the safety of the picking robot 2 and vehicles on the road. However, even if this step is not set, the method can still run, but the safety and picking effect will be relatively poor.)

[0059] S1. Start the inspection robot 1 and make it slide along the highway guardrail 4. The picking robot 2 and the auxiliary positioning slave 3 follow the inspection robot 1 and move on the highway 6.

[0060] S2. The binocular camera 14 of the inspection robot 1 acquires road images along the way. The image threshold and deep learning model are used to detect whether there is a lost object 5 in the road images acquired by the binocular camera 14. If there is, proceed to step S3; otherwise, proceed to step S4.

[0061] S3, Pick up lost item 5, which includes the following steps:

[0062] S31. Stop the movement of inspection robot 1, picking robot 2 and auxiliary positioning slave 3, and confirm the two-dimensional coordinates of picking robot 2 and lost object 5;

[0063] Confirming the two-dimensional coordinates of lost item 5 involves the following steps:

[0064] S501. Delineate the region of interest based on the location of the debris detected in step S2 in the road surface image;

[0065] S502. Obtain a disparity map using the binocular camera 14 and calculate the average disparity of the region of interest;

[0066] S503. Determine the two-dimensional coordinates of the lost object relative to the inspection robot 1 using a binocular vision positioning algorithm (that is, take the inspection robot 1 as the origin of the coordinates).

[0067] Obtaining disparity maps using binocular cameras and using binocular visual positioning algorithms are existing technologies and will not be elaborated here.

[0068] Confirming the two-dimensional coordinates of the picking robot 2 includes the following steps:

[0069] S601. Switch the UWB slave base station 31 on the auxiliary positioning slave 3 to tag mode in turn to obtain the two-dimensional coordinates of the auxiliary positioning slave 3 relative to the inspection robot 1.

[0070] Specifically, the following steps are included:

[0071] The premise is to establish an inspection robot 1 (that is...) Figure 6 B in M A two-dimensional coordinate system is established with the origin at x, the direction of the inspection robot 1's forward movement (or the opposite direction) as the positive x-axis, and the direction toward the roadside (or the opposite direction) as the positive y-axis.

[0072] First, the two slave base stations are operated alternately in tag mode to obtain the distance between the UWB master base station 13 and the two tags (i.e., UWB slave base stations 31). and And the distance d between the two labels S1S2 And the relative angle α between the two labels and the y-axis. S1 With α S2 .

[0073] Second, the two auxiliary positioning slave devices B are solved using the following formula. S1 With B S2 The coordinates (y) relative to inspection robot 1 S1 ,x S1 ) and (y S2 ,x S2 )

[0074] x S1 =d Ms1 *sin(α S1 )

[0075] y S1 =d Ms1 *cos(α S1 )

[0076]

[0077]

[0078] S602. Based on the positioning information between the UWB tag 22 on the picking robot 2 and the UWB master base station 13 and the two UWB slave base stations 31, the TOA algorithm is used to determine the two-dimensional coordinates of the picking robot 2 relative to the inspection robot 1.

[0079] S32. Based on the result of step S31, drive the picking robot 2 to continuously correct its own movement trajectory to the location of the lost object and pick it up.

[0080] Specifically, it includes the following steps: S321, based on the two-dimensional coordinates of the picking robot 2 and the lost object obtained in step S31, calculate the slope and distance of the straight line between the two points;

[0081] S322. Based on the slope of the straight line between the two points obtained in step S321, the robot 2 adjusts its own angle using its posture sensor; it calculates the distance traveled using an odometer, and stops moving when the distance traveled is equal to the distance between the two points obtained in step S321; it can also collect image data using camera 24 and use visual algorithms to assist in adjusting the relative position of the robot and the lost object.

[0082] S33. The binocular camera 14 of the inspection robot 1 detects and confirms whether all lost items have been recovered. If they have been recovered, proceed to step S4; otherwise, return to step S31.

[0083] S4. Move the picking robot 2 back to the roadside and confirm whether the inspection destination has been reached according to the GPS positioning module of the inspection robot 1. If it has not been reached, return to step S1; otherwise, stop all equipment operation and end the inspection.

[0084] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A highway debris removal system with single-master and multi-slave collaborative positioning, characterized in that: The system includes a master robot and slave robots. The master robot is an inspection robot (1), and the slave robots include a picking robot (2) and at least two auxiliary positioning slaves (3). The inspection robot (1) includes a UWB master base station (13), a binocular camera (14), a GPS positioning module, and a walking mechanism (12). The walking mechanism (12) is used to slide the inspection robot (1) onto the highway guardrail and drive it to slide. The picking robot (2) includes a UWB tag (22), a recycling bin (23), a recycling mechanism (25), and a first drive mechanism. The recycling mechanism (25) is used to pick up the target object and place it in the recycling bin (23). The first drive mechanism is used to drive the picking robot (2) to walk on the ground. The auxiliary positioning slaves (3) include a UWB slave base station (31) and a second drive mechanism. The second drive mechanism is used to drive the auxiliary positioning slaves (3) to walk on the ground. The UWB master base station is used to exchange signals with the UWB slave base stations to determine the relative positions of each base station. The process of collecting debris using a highway debris removal system includes the following steps: S31. Stop the movement of the inspection robot (1), the picking robot (2), and the auxiliary positioning slave (3), and confirm the two-dimensional coordinates of the picking robot (2) and the lost object; Step S31, determining the two-dimensional coordinates of the lost object, includes the following sub-steps: S501. Delineate the region of interest based on the location of the debris detected in step S2 in the road surface image; S502. Obtain a disparity map using a binocular camera (14) and calculate the average disparity of the region of interest; S503. Determine the two-dimensional coordinates of the lost object relative to the inspection robot (1) using a binocular vision positioning algorithm; Step S31, determining the location of the picking robot (2), includes the following specific steps: S601. Switch the UWB slave base station (31) on the auxiliary positioning slave (3) to tag mode in turn to obtain the two-dimensional coordinates of the auxiliary positioning slave (3) relative to the inspection robot (1); S602. Based on the positioning information between the UWB tag (22) on the picking robot (2) and the UWB main base station (13) and at least two UWB slave base stations (31), the TOA algorithm is used to determine the two-dimensional coordinates of the picking robot (2) relative to the inspection robot (1). S32. Based on the result of step S31, drive the picking robot (2) to continuously correct its own movement trajectory to the location of the lost object and pick it up.

2. The highway debris removal system with single-master multi-slave collaborative positioning according to claim 1, characterized in that: The inspection robot (1) also includes a shell (11), the UWB main base station (13) and the binocular camera (14) are set on the top of the shell (11), the GPS positioning module is set inside the shell (11), and the walking mechanism (12) is set inside the shell (11). The walking mechanism (12) includes an outer driven wheel (121), an inner driven wheel (122) and a driving wheel (123). The outer driven wheel (121) and the inner driven wheel (122) are rotatably connected to the corresponding rotating shaft. The inner driven wheel (122) is located inside the outer driven wheel (121). The outer driven wheel (121) and the inner driven wheel (122) are used to fasten the inspection robot (1) onto the highway guardrail. The driving wheel (123) is connected to the output shaft of the drive motor. The sidewalls of the outer driven wheel (121), the inner driven wheel (122) and the driving wheel (123) are in contact with the highway guardrail.

3. The highway debris removal system with single-master multi-slave collaborative positioning according to claim 1, characterized in that: The picking robot (2) also includes a housing (21), a camera (24), an attitude sensor and an odometer. The camera (24) is located at the front end of the housing (21). The attitude sensor and the odometer are located inside the housing (21). The UWB tag is located at the top of the housing (21). The recycling trough (23) is also located at the top of the housing (21). The recycling trough (23) is a top-opening trough. The recycling mechanism (25) has a robotic arm and a bucket at the front end of the housing (21). The bucket is connected to the front end of the robotic arm. The first drive mechanism includes four wheels (211) located at the bottom of the housing (21), of which at least one wheel (211) is connected to a drive motor.

4. A highway debris removal system with single-master multi-slave collaborative positioning according to claim 1, characterized in that: The UWB base station (31) is set on the top of the auxiliary positioning slave (3). The second drive mechanism includes two drive wheels (32) and a universal wheel (33). The drive wheels (32) are connected to the drive motor. The drive wheels (32) are installed on both sides of the bottom rear of the auxiliary positioning slave (3). The universal wheel (33) is installed at the front end of the bottom of the auxiliary positioning slave (3).

5. A method for clearing debris from highways using the system described in any one of claims 1-4, characterized in that: Includes the following steps: S1. Start the inspection robot (1) and make it slide along the highway guardrail. The picking robot (2) and the auxiliary positioning slave (3) follow the inspection robot (1) and move on the highway. S2. The binocular camera (14) of the inspection robot (1) acquires images of the road surface along the way and determines whether there are any lost objects. If there are, proceed to step S3; otherwise, proceed to step S4. S3. Picking up lost items, which includes the following steps: S31. Stop the movement of the inspection robot (1), the picking robot (2), and the auxiliary positioning slave (3), and confirm the two-dimensional coordinates of the picking robot (2) and the lost object; Step S31, determining the two-dimensional coordinates of the lost object, includes the following sub-steps: S501. Delineate the region of interest based on the location of the debris detected in step S2 in the road surface image; S502. Obtain a disparity map using a binocular camera (14) and calculate the average disparity of the region of interest; S503. Determine the two-dimensional coordinates of the lost object relative to the inspection robot (1) using a binocular vision positioning algorithm; Step S31, determining the location of the picking robot (2), includes the following specific steps: S601. Switch the UWB slave base station (31) on the auxiliary positioning slave (3) to tag mode in turn to obtain the two-dimensional coordinates of the auxiliary positioning slave (3) relative to the inspection robot (1); S602. Based on the positioning information between the UWB tag (22) on the picking robot (2) and the UWB main base station (13) and at least two UWB slave base stations (31), the TOA algorithm is used to determine the two-dimensional coordinates of the picking robot (2) relative to the inspection robot (1). S32. Based on the result of step S31, drive the picking robot (2) to continuously correct its own movement trajectory to the location of the lost object and pick up the lost object; S33. The binocular camera (14) of the inspection robot (1) detects and confirms whether all lost items have been recovered. If they have been recovered, proceed to step S4; otherwise, return to step S31. S4. Confirm whether the inspection destination has been reached according to the GPS positioning module of the inspection robot (1). If it has not been reached, return to step S1. Otherwise, stop all equipment operation and end the inspection.

6. The method for cleaning up debris on highways according to claim 5, characterized in that: In step S2, the inspection robot (1) detects the debris in the road surface image obtained by the binocular camera (14) through image thresholding and deep learning model.

7. The method for cleaning up debris on highways according to claim 5, characterized in that: Step S32 It includes the following steps: S321. Based on the two-dimensional coordinates of the picking robot (2) and the lost object obtained in step S31, calculate the slope and distance of the straight line between the two points; S322. Based on the slope of the straight line between the two points obtained in step S321, the angle of the picking robot (2) is adjusted by the attitude sensor; the distance traveled is calculated by the odometer, and the movement stops when the distance traveled is equal to the distance between the two points obtained in step S321.

8. The method for cleaning up debris on highways according to claim 7, characterized in that: Step S322: Image data is collected by camera (24), and visual algorithms are used to assist in adjusting the relative position of the picking robot and the lost object.

Images