Narrow space nuclear power plant inspection robot fusion positioning method and system based on space and time synchronization

Abstract

The invention relates to the technical field of nuclear power plant inspection device automatic navigation, in particular to a narrow space nuclear power plant inspection robot fusion positioning method and system based on space and time synchronization. The system comprises a task interaction module, an inspection device interaction module, a local positioning information generation module and a local position analysis tool. The method comprises the following steps: S1, analyzing task information; s2, analyzing the information of the inspection device; s3, checking and calculating the data; and S4, calculating and generating real-time positioning information. According to the invention, self environment sensing sensor data and communication point location interaction data can be effectively fused, and the self positioning precision of the inspection device under the condition of weak network signals in a narrow space is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic navigation of nuclear power plant inspection devices, and in particular to a fusion positioning method and system for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization. Background Art

[0002] In the nuclear power plant environment, key buildings such as the nuclear island are special closed spaces. When the inspection robot performs navigation tasks, some narrow areas are easily shielded by structures or other electrical interference, which can lead to communication interruption of conventional real-time positioning and online navigation technologies, and the ideal effect cannot be achieved. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a fusion positioning method and system for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, thereby improving the positioning accuracy of the nuclear power plant inspection device in an environment with poor positioning and online navigation communication.

[0004] The present invention provides a fusion positioning system for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, comprising:

[0005] The task interaction module is used to obtain detailed inspection task information, store the read task data in the inspection task information library, and perform data interaction with other functional modules through the first data transmission interface, and provide inspection task data entries to the local positioning information generation module;

[0006] Inspection device interaction module, used to obtain basic parameters, motion control information, and real-time status information of the inspection device from the inspection device and store them in the device detailed information library, and obtain real-time data of the sensor in real time through the sensor data interface. This module performs data interaction with other functional modules through the second data transmission interface;

[0007] A local positioning information generation module is used to perform calculation and generation of real-time positioning information, complete the generation and feedback of local real-time positioning information by using a local position analysis tool, and perform data interaction with other functional modules through a third data transmission interface;

[0008] The local position analysis tool is used to obtain the current motion plane distance sensor distance information in a narrow area in real time, combine the current communication delay with the on-site base station with the global map information, and match the real-time map environment point cloud data to comprehensively calculate and feedback the current actual position information.

[0009] In a specific embodiment of the present invention, the local position analysis tool comprises: a time verification submodule, an environment verification submodule, a positioning calculation submodule and a fourth data transmission interface;

[0010] The time verification submodule: loads the delay data sequence of the network communication between the inspection device and the on-site base station, and converts it into the communication delay data vector V after being parsed and assembled by this module. C-Delay , and the signal state data vector V s-s , merge the above vectors to generate the time calculation result dataset C t-a ;

[0011] Environmental verification submodule: reads and analyzes distance sensor data and point cloud data, and generates dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c ;

[0012] Positioning calculation submodule: based on the time result dataset C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , call the communication access point time correction operator and map feature point matching operator to generate the positioning result dataset C p-r ;

[0013] The fourth data transmission interface is used to perform data interaction and communication with other functional modules in the system, including data loading and data exporting.

[0014] In a specific implementation of the present invention, the task interaction module includes: a task data loading interface, a task information library and a first data transmission interface.

[0015] In a specific implementation of the present invention, the inspection device interaction module includes: an inspection device interface, a device detailed information library, a sensor data interface, and a second data transmission interface.

[0016] In a specific implementation of the present invention, the local positioning information generation module includes: an LPAT loading interface, a process storage information library and a third data transmission interface.

[0017] The present invention also provides a fusion positioning method for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, comprising the following steps:

[0018] Step S1: task information analysis;

[0019] Step S2: Inspection device information analysis;

[0020] Step S3: data verification calculation;

[0021] Step S4: Calculate and generate real-time positioning information.

[0022] In a specific embodiment of the present invention, the step S1 specifically includes:

[0023] Step S1.1: calling the task data loading interface in the task interaction module to perform the information reading operation of the task data;

[0024] Step S1.2: Read the inspection task information database, parse and filter task-related information; perform structured matching on the data of the task-related information that has been read and normalized and transferred to the inspection task information database in batches;

[0025] The task related information includes: task code, inspection object list, inspection path information, and global map data;

[0026] Step S1.3: calling the first data transmission interface to perform data transmission from the inspection task information base in the task interaction module to the process storage information base in the local positioning information generation module.

[0027] In a specific embodiment of the present invention, step S2 specifically includes:

[0028] Step S2.1: calling the inspection device interface of the inspection device interaction module to perform a data reading operation;

[0029] Step S2.2: Perform structured matching on the read device data and transfer and save in batches to the device detailed information library of the inspection device interaction module;

[0030] Step S2.3: calling the sensor data interface of the inspection device interaction module to open the device real-time value data acquisition channel;

[0031] Step S2.4: perform a comparison of the visual image and distance measurement data of the key inspection points through the sensor data interface of the inspection device interaction module, and update the process information repository after the comparison is completed;

[0032] Step S2.5: Through the sensor data interface of the inspection device interaction module, the obstacle identification visual image and distance measurement data are compared, and after the comparison is completed, the process information repository is updated.

[0033] In a specific embodiment of the present invention, step S3 specifically includes:

[0034] Step S3.1: the local positioning information generation module calls the local position analysis tool through the third data transmission interface to transmit the data in the process storage information library to the local position analysis tool;

[0035] Step S3.2: Call the local position analysis tool through the fourth data transmission interface, use the time verification submodule to load the network communication delay data sequence between the inspection device and the on-site base station, and convert it into the communication delay data vector V after analysis and assembly. C-Delay , and the signal state data vector V s-s , merge the above two types of vectors to generate the time calculation result dataset C t-a , complete the time data verification calculation;

[0036] Step S3.3: Call the local position analysis tool through the fourth data transmission interface, use the environment verification submodule to read and analyze the distance sensor data and point cloud data, and generate the dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c , complete the environmental data verification calculation.

[0037] In a specific embodiment of the present invention, step S4 specifically includes:

[0038] Step S4.1: transmitting the result data generated by the time data verification and the environmental data verification to the local position analysis tool positioning calculation submodule;

[0039] Step S4.2: The local position analysis tool positioning calculation submodule calls the communication access point time correction operator, performs communication delay-relative distance matching calculation, and returns the calculation result;

[0040] Step S4.3: The local position analysis tool positioning calculation submodule calls the map feature point matching operator, performs feature point-position coordinate matching calculation, and returns the calculation result;

[0041] Step S4.4: Through the positioning calculation submodule, based on the time result data set C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , by calling the corresponding calculation results obtained by the communication access point time correction operator and the map feature point matching operator, the positioning result dataset C is generated p-r ;

[0042] Step S4.5: Positioning result dataset C p-r ,The real-time positioning information calculation results are fed back through the positioning calculation submodule of the local position analysis tool, and data normalization is performed according to the actual format requirements.

[0043] Compared with the prior art, the present invention's fusion positioning method and system for nuclear power plant inspection robots in narrow spaces based on spatial and temporal synchronization is specially equipped with a packaged local position analysis tool (LPAT), which obtains the current motion plane distance sensor spacing information in real time, combines the current communication delay with the on-site base station with the global map information, and matches the real-time map environment point cloud data to comprehensively calculate and feedback the actual location information of the inspection device in the current environment. The present invention effectively integrates the data of its own environmental perception sensors with the communication point interaction data, and improves the self-positioning accuracy of the inspection device under the condition of weak network signals in narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram showing the structure of a fusion positioning system for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization;

[0045] Figure 2 It shows the structure of the local position analysis tool;

[0046] Figure 3 A flow chart showing a fusion positioning method for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization;

[0047] Figure 4 A detailed structural diagram showing the entire process of the system. DETAILED DESCRIPTION

[0048] In order to further understand the present invention, the embodiments of the present invention are described below in conjunction with examples, but it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the present invention.

[0049] The core of the present invention is to encapsulate the local position analysis tool (LPAT) to obtain the current moving plane distance sensor spacing information in a narrow area in real time, combine the current communication delay with the on-site base station and the global map information, and match the real-time map environment point cloud data to comprehensively calculate and feedback the actual position information of the inspection device in the current environment.

[0050] The system obtains task data, including task code, inspection object list, inspection path information, and global map data, through the task interaction module (TI); obtains detailed parameter information of the inspection robot through the inspection device interaction module (IDI), including equipment code, body parameters, operating status, power information, etc.; calls the local position analysis tool (LPAT) through the local positioning information generation module (LPIG), and uses the time verification submodule, environment verification submodule, and positioning calculation submodule to complete the real-time position information calculation.

[0051] The embodiment of the present invention discloses a fusion positioning system for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, such as Figure 1 As shown, it includes: task interaction module, inspection device interaction module, local positioning information generation module, and local position analysis tool;

[0052] The task interaction module is used to obtain detailed inspection task information, store the read task data in a dedicated inspection task information library, and perform data interaction with other functional modules through the first data transmission interface, and provide inspection task data entries to the local positioning information generation module;

[0053] The task interaction module includes: a task data loading interface, a task information library and a first data transmission interface.

[0054] The inspection device interaction module is used to obtain basic parameters, motion control information, and real-time status information of the inspection device from the inspection device and store them in the device detailed information library, and obtain real-time data of the sensor in real time through the sensor data interface. This module performs data interaction with other functional modules through the second data transmission interface;

[0055] The inspection device interaction module includes: an inspection device interface, a device detailed information library, a sensor data interface and a second data transmission interface.

[0056] The local positioning information generation module is used to perform calculation and generation of real-time positioning information, and complete the generation and feedback of local real-time positioning information by using a local position analysis tool, and can perform data interaction with other functional modules through a third data transmission interface;

[0057] The local positioning information generation module includes: an LPAT loading interface, a process storage information library and a third data transmission interface.

[0058] The local position analysis tool is used to obtain the current motion plane distance sensor distance information in real time in a narrow area, combine the current communication delay with the on-site base station and the global map information, and match the real-time map environment point cloud data to comprehensively calculate and feedback the current actual position information.

[0059] like Figure 2 As shown, the local position analysis tool includes: a time verification submodule, an environment verification submodule, a positioning calculation submodule and a fourth data transmission interface;

[0060] The time verification submodule: loads the delay data sequence of the network communication between the inspection device and the on-site base station, and converts it into the communication delay data vector V after being parsed and assembled by this module. C-Delay , and the signal state data vector V s-s, merge the above vectors to generate the time calculation result dataset C t-a ;

[0061] Environmental verification submodule: reads and analyzes distance sensor data and point cloud data, and generates dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c ;

[0062] Positioning calculation submodule: based on the time result dataset C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , call the communication access point time correction operator and map feature point matching operator to generate the positioning result dataset C p-r ;

[0063] The fourth data transmission interface is used to perform data interaction and communication with other functional modules in the system, including data loading and data exporting.

[0064] The embodiment of the present invention also discloses a fusion positioning method for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, such as Figure 3 and Figure 4 As shown, the following steps are included:

[0065] Step S1: task information analysis;

[0066] Specifically include:

[0067] Step S1.1: calling the task data loading interface in the task interaction module to perform the information reading operation of the task data;

[0068] Step S1.2: Read the inspection task information database, parse and filter task-related information; perform structured matching on the data of the task-related information that has been read and normalized and transferred to the inspection task information database in batches;

[0069] The task related information includes: task code, inspection object list, inspection path information, and global map data;

[0070] Step S1.3: calling the first data transmission interface to perform data transmission from the inspection task information base in the task interaction module to the process storage information base in the local positioning information generation module.

[0071] Step S2: Inspection device information analysis;

[0072] Specifically include:

[0073] Step S2.1: calling the inspection device interface of the inspection device interaction module to perform a data reading operation;

[0074] Step S2.2: Perform structured matching on the read device data and transfer and save in batches to the device detailed information library of the inspection device interaction module;

[0075] Step S2.3: calling the sensor data interface of the inspection device interaction module to open the device real-time value data acquisition channel;

[0076] Step S2.4: perform a comparison of the visual image and distance measurement data of key inspection points through the inspection device interaction module sensor data interface, and update the process information repository after the comparison is completed;

[0077] Step S2.5: Through the sensor data interface of the inspection device interaction module, the obstacle identification visual image and distance measurement data are compared, and after the comparison is completed, the process information repository is updated.

[0078] Step S3: data verification calculation;

[0079] Specifically include:

[0080] Step S3.1: the local positioning information generation module calls the local position analysis tool through the third data transmission interface to transmit the data in the process storage information library to the local position analysis tool;

[0081] Step S3.2: Call the local position analysis tool through the fourth data transmission interface, use the time verification submodule to load the network communication delay data sequence between the inspection device and the on-site base station, and convert it into the communication delay data vector V after analysis and assembly. C-Delay , and the signal state data vector V s-s , merge the above two types of vectors to generate the time calculation result dataset C t-a , complete the time data verification calculation;

[0082] Step S3.3: Call the local position analysis tool through the fourth data transmission interface, use the environment verification submodule to read and analyze the distance sensor data and point cloud data, and generate the dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c , complete the environmental data verification calculation.

[0083] Step S4: Calculate and generate real-time positioning information.

[0084] Specifically include:

[0085] Step S4.1: transmitting the result data generated by the time data verification and the environmental data verification to the local position analysis tool positioning calculation submodule;

[0086] Step S4.2: The local position analysis tool positioning calculation submodule calls the communication access point time correction operator, performs communication delay-relative distance matching calculation, and returns the calculation result;

[0087] Step S4.3: The local position analysis tool positioning calculation submodule calls the map feature point matching operator, performs feature point-position coordinate matching calculation, and returns the calculation result;

[0088] Step S4.4: Through the positioning calculation submodule, based on the time result data set C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , by calling the corresponding calculation results obtained by the communication access point time correction operator and the map feature point matching operator, the positioning result dataset C is generated p-r ;

[0089] Step S4.5: Positioning result dataset C p-r ,The real-time positioning information calculation results are fed back through the positioning calculation submodule of the local position analysis tool, and data normalization is performed according to the actual format requirements.

[0090] The above embodiments are only used to help understand the method and core idea of ​​the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0091] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fusion positioning system for inspection robots in nuclear power plants in narrow spaces based on spatial and temporal synchronization, characterized in that: include: The task interaction module is used to obtain detailed inspection task information, store the read task data in the inspection task information library, and perform data interaction with other functional modules through the first data transmission interface, and provide inspection task data entries to the local positioning information generation module; Inspection device interaction module, used to obtain basic parameters, motion control information, and real-time status information of the inspection device from the inspection device and store them in the device detailed information library, obtain real-time data of the sensor in real time through the sensor data interface, and perform data interaction with other functional modules through the second data transmission interface; A local positioning information generation module is used to perform calculation and generation of real-time positioning information, complete the generation and feedback of local real-time positioning information by using a local position analysis tool, and perform data interaction with other functional modules through a third data transmission interface; The local position analysis tool is used to obtain the current motion plane distance sensor distance information in a narrow area in real time, combine the current communication delay with the on-site base station with the global map information, and match the real-time map environment point cloud data to comprehensively calculate and feedback the current actual position information.

2. According to claim 1, the fusion positioning system of the inspection robot for a nuclear power plant in a narrow space based on spatial and temporal synchronization is characterized in that: The local position analysis tool comprises: a time verification submodule, an environment verification submodule, a positioning calculation submodule and a fourth data transmission interface; The time verification submodule: loads the delay data sequence of the network communication between the inspection device and the on-site base station, and converts it into the communication delay data vector V after being parsed and assembled by this module. C-Delay , and the signal state data vector V s-s , merge the above vectors to generate the time calculation result dataset C t-a ; Environmental verification submodule: reads and analyzes distance sensor data and point cloud data, and generates dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c ; Positioning calculation submodule: based on the time result dataset C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , call the communication access point time correction operator and map feature point matching operator to generate the positioning result dataset C p-r ; The fourth data transmission interface is used to perform data interaction and communication with other functional modules in the system, including data loading and data exporting.

3. The fusion positioning system for inspection robots in narrow spaces of nuclear power plants based on spatial and temporal synchronization according to claim 1 is characterized in that: The task interaction module includes: a task data loading interface, a task information library and a first data transmission interface.

4. The narrow space nuclear power plant inspection robot fusion positioning system based on space and time synchronization according to claim 1 is characterized in that: The inspection device interaction module includes: an inspection device interface, a device detailed information library, a sensor data interface and a second data transmission interface.

5. The narrow space nuclear power plant inspection robot fusion positioning system based on space and time synchronization according to claim 1 is characterized in that: The local positioning information generation module includes: an LPAT loading interface, a process storage information library and a third data transmission interface.

6. A fusion positioning method for a nuclear power plant inspection robot in a narrow space based on spatial and temporal synchronization, characterized in that: The following steps are involved: Step S1: task information analysis; Step S2: Inspection device information analysis; Step S3: data verification calculation; Step S4: Real-time positioning information is calculated and generated.

7. The spatial and temporal synchronization fusion positioning method for a nuclear power plant inspection robot in a narrow space according to claim 6 is characterized in that: The step S1 specifically includes: Step S1.1: calling the task data loading interface in the task interaction module to perform the information reading operation of the task data; Step S1.2: Read the inspection task information database, parse and filter task-related information; perform structured matching on the data of the task-related information that has been read and normalized and transferred to the inspection task information database in batches; The task related information includes: task code, inspection object list, inspection path information, and global map data; Step S1.3: calling the first data transmission interface to perform data transmission from the inspection task information base in the task interaction module to the process storage information base in the local positioning information generation module.

8. The spatial and temporal synchronization fusion positioning method for a nuclear power plant inspection robot in a narrow space according to claim 6 is characterized in that: The step S2 specifically includes: Step S2.1: calling the inspection device interface of the inspection device interaction module to perform a data reading operation; Step S2.2: Perform structured matching on the read device data and transfer and save in batches to the device detailed information library of the inspection device interaction module; Step S2.3: calling the sensor data interface of the inspection device interaction module to open the device real-time value data acquisition channel; Step S2.4: perform a comparison of the visual image and distance measurement data of the key inspection points through the sensor data interface of the inspection device interaction module, and update the process information repository after the comparison is completed; Step S2.5: Through the sensor data interface of the inspection device interaction module, the obstacle identification visual image and distance measurement data are compared, and after the comparison is completed, the process information repository is updated.

9. The spatial and temporal synchronization fusion positioning method for a nuclear power plant inspection robot in a narrow space according to claim 6 is characterized in that: The step S3 specifically includes: Step S3.1: the local positioning information generation module calls the local position analysis tool through the third data transmission interface to transmit the data in the process storage information library to the local position analysis tool; Step S3.2: Call the local position analysis tool through the fourth data transmission interface, use the time verification submodule to load the network communication delay data sequence between the inspection device and the on-site base station, and convert it into the communication delay data vector V after analysis and assembly. C-Delay , and the signal state data vector V s-s , merge the above two types of vectors to generate the time calculation result dataset C t-a , complete the time data verification calculation; Step S3.3: Call the local position analysis tool through the fourth data transmission interface, use the environment verification submodule to read and analyze the distance sensor data and point cloud data, and generate the dimension analysis data vector V after analysis by this module d-a , distance information vector V distance , obstacle identification information vector V obs , merge the above vectors, combine with global map information, and generate the distance verification dataset C d-c , complete the environmental data verification calculation.

10. The spatial and temporal synchronization fusion positioning method for a nuclear power plant inspection robot in a narrow space according to claim 9 is characterized in that: The step S4 specifically includes: Step S4.1: transmitting the result data generated by the time data verification and the environmental data verification to the local position analysis tool positioning calculation submodule; Step S4.2: The local position analysis tool positioning calculation submodule calls the communication access point time correction operator, performs communication delay-relative distance matching calculation, and returns the calculation result; Step S4.3: The local position analysis tool positioning calculation submodule calls the map feature point matching operator, performs feature point-position coordinate matching calculation, and returns the calculation result; Step S4.4: Through the positioning calculation submodule, based on the time result data set C generated by the time verification submodule t-a , and the distance calibration dataset C generated by the environment calibration submodule d-c , by calling the corresponding calculation results obtained by the communication access point time correction operator and the map feature point matching operator, the positioning result dataset C is generated p-r ; Step S4.5: Positioning result dataset C p-r ,The real-time positioning information calculation results are fed back through the positioning calculation submodule of the local position analysis tool, and data normalization is performed according to the actual format requirements.

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