Method and system for determining positions among multiple power tunnel robots with consistent starting points

Abstract

The invention belongs to the technical field of robot scheduling control, and provides a method and system for determining positions among multiple power tunnel robots with consistent starting points, and the method comprises the steps: obtaining the position information of a current robot and the position information of a to-be-determined robot; according to the position information of the to-be-determined robot, a calibration point reference object is determined based on the nearest distance principle; according to the position of the reference object, the calibration positions of the current robot and the to-be-determined robot are determined at the same time; determining the position difference of the current robot relative to the to-be-determined robot according to the difference value between the current robot calibration position and the to-be-determined robot calibration position; adjusting the position information of the to-be-determined robot through the position difference to obtain the final position information of the to-be-determined robot; position deviation among a plurality of robots can be eliminated, the accuracy of service scheduling is improved, and special requirements in the power industry are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot dispatching and control, and in particular relates to a method and system for determining the positions of multiple power tunnel robots with the same starting point. Background Art

[0002] As the main artery of the city, the power tunnel continuously delivers electricity to every user. The safety of the power tunnel is the prerequisite for the normal operation of the entire city. In recent years, with the continuous improvement of informatization, robots have been used more and more widely in power tunnels. The number of robots in the tunnel has also been upgraded from single-vehicle application to multi-vehicle combination application, and more complex business applications are completed with the help of different types of robots.

[0003] The real-time position data of the robot in the tunnel is very important for business scheduling. In real applications, even if there are multiple robots with the same starting point, there will be certain deviations in the relative positions of the robots due to differences in motor models, wheel diameters, etc. The position deviation will cause misjudgment in business scheduling and pose a major risk to the robot's movement safety. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a method and system for determining the positions of multiple power tunnel robots with the same starting point. The present invention determines the position difference of the current robot relative to the robot to be determined through the difference between the calibrated position of the current robot and the calibrated position of the robot to be determined; adjusts the position information of the robot to be determined through the position difference to obtain the final position information of the robot to be determined; can eliminate the position deviations between multiple robots, improve the accuracy of business scheduling, and meet the special needs in the power industry.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for determining the positions of multiple power tunnel robots having the same starting point, comprising:

[0007] Obtain the current robot's location information and the robot's location information to be determined;

[0008] Through the position information of the robot to be determined, the reference object of the calibration point is determined based on the principle of the closest distance;

[0009] According to the position of the reference object, the calibrated positions of the current robot and the robot to be determined are determined at the same time; the position difference of the current robot relative to the robot to be determined is determined by the difference between the calibrated position of the current robot and the calibrated position of the robot to be determined;

[0010] Adjust the position information of the robot to be determined through the position difference to obtain the final position information of the robot to be determined.

[0011] Furthermore, according to the movement direction and periodicity of the current robot during movement, determine whether there are other robots within a preset distance. If so, use the other robots within the preset distance as the robots to be determined, and determine the position of the nearest calibration point based on the positions of the robots to be determined.

[0012] Furthermore, when the identification point position of the current robot is less than that of the robot to be determined, the position of the robot to be determined is placed in front of the position of the current robot. After subtracting the offset value, reposition the position of the robot to be determined according to the position of the current robot;

[0013] When the identification point position of the current robot is greater than that of the robot to be determined, the position of the robot to be determined is placed behind the position of the current robot. After adding the offset value, reposition the position of the robot to be determined according to the position of the current robot.

[0014] Furthermore, the final position PN2 of the robot to be determined is:

[0015] d1 < d2 => PN2 - |d1 - d2|

[0016] d1 > d2 => PN2 + |d1 - d2|

[0017] Wherein, d1 is the identification point position of the current robot; d2 is the identification point position of the robot to be determined; P2 is the current position of the robot to be determined; PN2 is the position of the robot to be determined after superimposing the offset.

[0018] Furthermore, correct the final position PN2 of the robot to be determined to obtain the corrected position PN2 * ：

[0019]

[0020] Wherein, W1 is the weight of the first robot; W2 is the weight of the second robot; D1 is the wheel diameter of the first robot; D2 is the wheel diameter of the second robot; α and β are adjustment coefficients; when W1 > W2, α is negative; when W1 < W2, α is positive; when W1 = W2, α = 0; when D1 > D2, β is negative; when D1 < D2, β is positive; when D1 = D2, β = 0.

[0021] Furthermore, the calibration point reference object is the nearest fire door or charging station to the robot to be determined.

[0022] In a second aspect, the present invention further provides a position determination system between multiple power tunnel robots with the same starting point, comprising:

[0023] The data acquisition module is configured to: obtain the position information of the current robot and the position information of the robot to be determined;

[0024] The reference object determination module is configured to: determine the calibration point reference object based on the position information of the robot to be determined and the principle of the closest distance;

[0025] The calibration module is configured to: determine the calibration positions of the current robot and the robot to be determined simultaneously according to the position of the reference object; determine the position difference of the current robot relative to the robot to be determined by the difference between the calibration position of the current robot and the calibration position of the robot to be determined;

[0026] The position determination module is configured to adjust the position information of the robot to be determined according to the position difference to obtain the final position information of the robot to be determined.

[0027] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the position between multiple power tunnel robots having the same starting point as described in the first aspect.

[0028] In a fourth aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the program, the steps of the method for determining the positions of multiple power tunnel robots with the same starting point as described in the first aspect are implemented.

[0029] In a fifth aspect, the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for determining the position between multiple power tunnel robots with the same starting point as described in the first aspect are implemented.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. In the present invention, the calibration point reference is determined based on the position information of the robot to be determined and the principle of the shortest distance; the calibration positions of the current robot and the robot to be determined are determined simultaneously according to the position of the reference; the position difference of the current robot relative to the robot to be determined is determined by the difference between the calibration position of the current robot and the calibration position of the robot to be determined; the position information of the robot to be determined is adjusted by the position difference to obtain the final position information of the robot to be determined; the position deviations between multiple robots can be eliminated, the accuracy of business scheduling can be improved, and the special needs in the power industry can be met.

[0032] 2. The present invention adopts the position calibration point method to eliminate the phase difference. The algorithm is simple, efficient and easy to implement. The calibration point is dynamically selected to improve the calculation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0034] Figure 1 This is a schematic diagram of position calibration points in Example 1 of the present invention;

[0035] Figure 2 This is a phase difference processing flow chart of Example 1 of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0038] Embodiment 1:

[0039] like Figure 1 The figure shows a cross-section of a power tunnel. The robot track is hoisted at the top of the tunnel. Fire doors and charging stations are installed at fixed intervals. When the robot walks on the track, the positions of fire doors and charging stations need to be marked for business scheduling reasons. Each robot will save a set of position data positioned by its own motor.

[0040] The robot is suspended on the track. When the robot moves, the motor rotates, driving the running wheels to rotate and realize walking. The position of the robot on the track is calculated based on its own motor. Due to differences in robot models, motors and other factors, there will be a situation where the calibrated positions of multiple robots at the same calibration point are not uniform, and with the extension of the movement distance, this deviation increases exponentially. Even robots of the same model will have similar problems due to processing accuracy, assembly errors and other reasons.

[0041] When only one robot is running in the tunnel, there will be no deviation problem. When multiple robots are running at the same time, the deviation between the robots will cause a series of problems such as business misjudgment and safety defects. In order to solve this problem, this embodiment provides a method for determining the position between multiple power tunnel robots with the same starting point, including:

[0042] Obtain the current robot's location information and the robot's location information to be determined;

[0043] Through the position information of the robot to be determined, the reference object of the calibration point is determined based on the principle of the closest distance;

[0044] According to the position of the reference object, the calibrated positions of the current robot and the robot to be determined are determined at the same time; the position difference of the current robot relative to the robot to be determined is determined by the difference between the calibrated position of the current robot and the calibrated position of the robot to be determined;

[0045] The position information of the robot to be determined is adjusted through the position difference to obtain the final position information of the robot to be determined.

[0046] The following method is described by taking the current robot as the first robot and the robot to be determined as the second robot, including:

[0047] The fire door and charging station are fixed devices that will not change their positions, and are marked in each robot. The host computer also records the marking content of each robot. When the first robot moves, the host computer monitors the presence of a second robot device in front of the movement. Through the position information of the second robot, it is determined that the nearest calibration point is the fire door. At the same time, the position information of the fire door calibrated by the first robot and the second robot is obtained. The difference between the two calibration positions is obtained by calculation, and the position information of the second robot is calculated with the difference data, so that the position difference data of the first robot relative to the second robot can be obtained. The position deviation of the two robots is eliminated by the offset error of the same calibration point.

[0048] The advantages of this method are that the algorithm is simple and efficient, and it can effectively eliminate the related problems caused by position deviation and improve the accuracy of business scheduling.

[0049] like Figure 2 As shown in the figure, it is a phase difference processing flow chart, which is further explained. As shown in the flow chart, during the movement, the robot (first robot) will periodically determine whether there is another robot (second robot) in front of it according to the direction of movement. If not, the position deviation processing service will not be performed; if so, first, according to the position of the second robot, the nearest calibration point position (such as a charging station, a fire door, etc.) is retrieved, and the retrieved calibration point position is calculated with the same calibration point position in the first robot to obtain the position deviation value data, and then the position of the second robot is calculated with the offset value to obtain the accurate position data of the first robot from the second robot.

[0050] d1<d2=> PN2-|d1-d2|

[0051] d1 > d2 => PN2 + |d1 - d2|

[0052] Wherein, d1 is the position of the identification point of the first robot; d2 is the position of the identification point of the second robot; P2 is the current position of the second robot; PN2 is the position of the second robot after superimposing the offset.

[0053] When d1 < d2, it means that the position of the second robot is in front of the position of the first robot. After subtracting the offset value, the position of the second robot can be repositioned according to the position of the first robot.

[0054] When d1 > d2, it means that the position of the second robot is behind the position of the first robot, and just add the offset value.

[0055] The advantages of this method are that when the second robot is moving, the calibration points are also dynamically selected, and the calculated data is more accurate.

[0056] The position deviation between multiple robots with the same starting point is caused by factors such as robot model differences, motor model differences, and wheel diameter size differences; in some other embodiments, considering factors such as robot weight and wheel diameter size, the position PN2 of the second robot after superimposing the offset is further corrected to further improve the position accuracy; the corrected position PN2 * is:

[0057]

[0058] Wherein, W1 is the weight of the first robot; W2 is the weight of the second robot; D1 is the wheel diameter of the first robot; D2 is the wheel diameter of the second robot; α and β are adjustment coefficients; when W1 > W2, it means that the first robot may move slowly due to the influence of weight, and at this time α is negative; when W1 < W2, it means that the second robot may move slowly due to the influence of weight, and at this time α is positive; when W1 = W2, α = 0; when D1 > D2, it means that the first robot has a greater possibility of slipping points and may move slowly, and at this time β is negative; when D1 < D2, it means that the second robot has a greater possibility of slipping points and may move slowly, and at this time β is positive; when D1 = D2, β = 0; the specific values of α and β can be obtained through experience or experiments.

[0059] Embodiment 2:

[0060] This embodiment provides a position determination system for multiple power tunnel robots with the same starting point, including:

[0061] A data acquisition module, configured to: obtain the position information of the current robot and the position information of the robot to be determined;

[0062] The reference object determination module is configured to: determine the calibration point reference object based on the position information of the robot to be determined and the principle of the closest distance;

[0063] The calibration module is configured to: determine the calibration positions of the current robot and the robot to be determined simultaneously according to the position of the reference object; determine the position difference of the current robot relative to the robot to be determined by the difference between the calibration position of the current robot and the calibration position of the robot to be determined;

[0064] The position determination module is configured to adjust the position information of the robot to be determined according to the position difference to obtain the final position information of the robot to be determined.

[0065] The working method of the system is the same as the method for determining the positions between multiple power tunnel robots with the same starting point as in Example 1, and will not be repeated here.

[0066] Embodiment 3:

[0067] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the method for determining the positions of multiple power tunnel robots having the same starting point as described in Embodiment 1 are implemented.

[0068] Embodiment 4:

[0069] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the method for determining the positions of multiple power tunnel robots with the same starting point as described in Example 1 are implemented.

[0070] Embodiment 5:

[0071] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for determining the positions of multiple power tunnel robots with the same starting point described in Example 1 are implemented.

[0072] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A method for determining the positions of multiple power tunnel robots with the same starting point, characterized in that: Including: Obtain the position information of the current robot and the position information of the robot to be determined; Determine the calibration point reference object according to the position information of the robot to be determined based on the principle of the closest distance; Determine the calibration positions of the current robot and the robot to be determined simultaneously according to the position of the reference object; determine the position difference of the current robot relative to the robot to be determined through the difference between the calibration position of the current robot and the calibration position of the robot to be determined; Adjust the position information of the robot to be determined through the position difference to obtain the final position information of the robot to be determined.

2. The method for determining the positions of multiple power tunnel robots with the same starting point as claimed in claim 1, characterized in that: According to the movement direction and periodicity of the current robot during movement, determine whether there are other robots within a preset distance. If so, use the other robots within the preset distance as the robots to be determined, and determine the closest calibration point position based on the positions of the robots to be determined.

3. The method for determining the positions of multiple power tunnel robots with the same starting point as claimed in claim 1, characterized in that: When the identification point position of the current robot is less than the identification point position of the robot to be determined, the position of the robot to be determined is placed in front of the position of the current robot. After subtracting the offset value, reposition the position of the robot to be determined according to the position of the current robot; When the identification point position of the current robot is greater than the identification point position of the robot to be determined, the position of the robot to be determined is placed behind the position of the current robot. After adding the offset value, reposition the position of the robot to be determined according to the position of the current robot.

4. The method for determining the positions of multiple power tunnel robots with the same starting point as claimed in claim 3, characterized in that: The final position PN2 of the robot to be determined is: d1 < d2 => PN2 - |d1 - d2| d1 > d2 => PN2 + |d1 - d2| Wherein, d1 is the identification point position of the current robot; d2 is the identification point position of the robot to be determined; P2 is the current position of the robot to be determined; PN2 is the position of the robot to be determined after superimposing the offset amount.

5. The method for determining the positions of multiple power tunnel robots with the same starting point as claimed in claim 4, characterized in that: Correct the final position PN2 of the robot to be determined to obtain the corrected position PN2 * ： Wherein, W1 is the weight of the first robot; W2 is the weight of the second robot; D1 is the wheel diameter of the first robot; D2 is the wheel diameter of the second robot; α and β are adjustment coefficients; when W1 > W2, α is negative; when W1 < W2, α is positive; when W1 = W2, α = 0; when D1 > D2, β is negative; when D1 < D2, β is positive; when D1 = D2, β = 0.

6. The method for determining the positions of multiple power tunnel robots with the same starting point as claimed in claim 1, characterized in that: The calibration point reference object is the closest fire door or charging station to the robot to be determined.

7. A system for determining the positions of multiple power tunnel robots with the same starting point, characterized in that: Including: A data acquisition module configured to: obtain the position information of the current robot and the position information of the robot to be determined; A reference object determination module configured to: determine the calibration point reference object according to the position information of the robot to be determined based on the principle of the closest distance; A calibration module configured to: determine the calibration positions of the current robot and the robot to be determined simultaneously according to the position of the reference object; determine the position difference of the current robot relative to the robot to be determined through the difference between the calibration position of the current robot and the calibration position of the robot to be determined; A position determination module configured to: adjust the position information of the robot to be determined through the position difference to obtain the final position information of the robot to be determined.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, it implements the steps of the method for determining the positions among multiple power tunnel robots with consistent starting points as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the steps of the method for determining the positions of multiple power tunnel robots with the same starting point as described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method for determining the positions of multiple power tunnel robots with the same starting point as described in any one of claims 1 to 6 are implemented.

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