Positioning method of rail robot, rail robot and readable storage medium

Abstract

The invention discloses a positioning method of a rail robot, and relates to the field of robotics.The method comprises the steps that when the rail robot moves on a rail, first displacement information of the rail robot on the rail is obtained; determining first position information of the rail robot according to the first displacement information; when the track robot enters the inspection track section, identifying a positioning label of the inspection track section through the label identification device to obtain second position information of the track robot; updating the first displacement information according to the first position information and the second position information to obtain second displacement information; and after the track robot leaves the inspection track section, positioning the track robot again according to the second displacement information. The problem that an existing rail robot is low in positioning precision and high in positioning cost is solved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a positioning method of a rail robot, a rail robot and a readable storage medium. Background Art

[0002] Track robots are usually suspended on tracks and can operate autonomously on the tracks. Therefore, track robots can realize autonomous unmanned inspections in scenes such as conveyor belt lines, distribution stations, switch rooms, pipe galleries, and tunnels.

[0003] The existing positioning solutions for rail robots mostly use the motor's built-in encoder or external encoder to provide mileage information to achieve positioning. However, this positioning method is prone to large errors due to the rail robot slipping on the track, resulting in low positioning accuracy. At the same time, the longer the rail robot travels, the greater the accumulated error, which in turn leads to large positioning errors. Summary of the invention

[0004] The present application provides a positioning method for a rail robot, a rail robot and a computer-readable storage medium, which solve the problems of low positioning accuracy and high positioning cost of existing rail robots.

[0005] In a first aspect, the present application provides a positioning method for a rail robot, wherein the rail robot is used to move on a rail, the rail is provided with an inspection rail segment, the inspection rail segment is provided with a plurality of positioning tags, the rail robot is provided with a tag recognition device, the tag recognition device is used to recognize the positioning tag, and the method comprises:

[0006] When the track robot moves on the track, obtaining first displacement information of the track robot on the track;

[0007] Determine first position information of the track robot according to the first displacement information;

[0008] When the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot;

[0009] updating the first displacement information according to the first position information and the second position information to obtain second displacement information;

[0010] After the track robot leaves the inspection track segment, the track robot is repositioned according to the second displacement information.

[0011] In a second aspect, the present application provides a rail robot, the rail robot comprising a memory and a processor;

[0012] The memory is used to store computer programs;

[0013] The processor is used to execute the computer program and implement the positioning method of the rail robot as described above when executing the computer program.

[0014] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the positioning method of the rail robot as described above.

[0015] The positioning method, the rail robot and the readable storage medium provided in the embodiments of the present application are as follows: when the rail robot moves on the rail, the first displacement information of the rail robot on the rail is obtained; the first position information of the rail robot is determined according to the first displacement information; when the rail robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the rail robot; the first displacement information is updated according to the first position information and the second position information to obtain the second displacement information; when the rail robot leaves the inspection track segment, the rail robot is repositioned according to the second displacement information. In this way, targeted and precise positioning can be performed on the inspection track segment, and the positioning can be continuously corrected during the driving process of the rail robot by discrete positioning, thereby clearing the accumulated displacement error, thereby improving the positioning accuracy of the rail robot, and reducing the positioning cost, and the implementation method is simple and reliable, which is suitable for precise positioning scenarios of long-distance tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a structural diagram of a positioning system provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of an application scenario of a track robot and a track provided in an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of an application scenario in which a first positioning identification device and a first positioning tag cooperate with each other, provided in an embodiment of the present application;

[0020] Figure 4This is a schematic diagram of an application scenario in which a second positioning identification device and a second positioning tag cooperate with each other, provided in an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of an application scenario in which a track is provided with multiple inspection track segments provided in an embodiment of the present application;

[0022] Figure 6 It is a schematic diagram of the steps of a positioning method of a rail robot provided in an embodiment of the present application;

[0023] Figure 7 It is a schematic block diagram of the structure of a rail robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0026] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0027] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0028] The existing positioning solution of rail robots can achieve positioning by using the motor's built-in encoder or external encoder to provide mileage information. However, this positioning method is prone to large errors due to the rail robot slipping on the track, resulting in low positioning accuracy. At the same time, the longer the rail robot travels, the greater the accumulated error.

[0029] The existing positioning solution of the track robot can also add a customized rack on the track to mesh with the gears on the track robot body, thereby reducing slippage to improve positioning accuracy. However, this positioning solution requires the use of customized racks and customized tracks, which leads to a higher overall positioning cost.

[0030] To this end, an embodiment of the present application provides a positioning method for a rail robot, a rail robot and a computer-readable storage medium. Among them, the positioning method for the rail robot can be applied to a rail robot or a server. When the rail robot moves on the track, the first displacement information of the rail robot on the track is obtained; the first position information of the rail robot is determined according to the first displacement information; when the rail robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by a tag identification device to obtain the second position information of the rail robot; the first displacement information is updated according to the first position information and the second position information to obtain the second displacement information; when the rail robot leaves the inspection track segment, the rail robot is repositioned according to the second displacement information. In this way, targeted and precise positioning can be performed on the inspection track segment, and the positioning can be continuously corrected during the driving process of the rail robot by discrete positioning, thereby clearing the accumulated displacement error, thereby improving the positioning accuracy of the rail robot, and reducing the positioning cost, and the implementation method is simple and reliable, which is suitable for precise positioning scenarios of long-distance tracks.

[0031] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of a positioning system 10 provided in an embodiment of the present application. Figure 1 As shown, the positioning system 10 may include a track 100, a track robot 200 and a server 300. The track robot 200 and the server 300 may communicate via wireless communication methods such as Bluetooth, 4G, 5G, 6G, and WIFI.

[0033] Exemplarily, the track robot 200 may be a patrol robot or other robot capable of moving on a track.

[0034] Exemplarily, server 300 can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0035] It should be noted that the execution subject corresponding to the positioning method of the self-moving device in the embodiment of the present application can be the track robot 200 or the server 300. When the execution subject is the server 300, the track robot 200 can upload data such as the first displacement information to the server 200, and the server 200 determines the first position information of the track robot based on the first displacement information; when the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot; the first displacement information is updated according to the first position information and the second position information to obtain the second displacement information; when the track robot leaves the inspection track segment, the track robot is repositioned according to the second displacement information. In the embodiment of the present application, for the sake of convenience, the track robot 200 will be used as the execution subject to explain how to perform positioning.

[0036] Before introducing the positioning method of the track robot provided in the embodiment of the present application, the structures of the track robot 200 and the track 100 provided in the embodiment of the present application are first introduced.

[0037] like Figure 2 As shown, the track robot 200 is arranged on the track 100, and the track robot 200 can operate autonomously on the track 100, thereby realizing autonomous unmanned inspection. The track 100 is provided with an inspection track segment, and the inspection track segment is provided with a plurality of positioning tags. The track robot is provided with a tag recognition device, and the tag recognition device is used to recognize the positioning tag.

[0038] like Figure 2 and Figure 3 As shown, the track robot 200 is provided with a first tag identification device 21, and the track 100 is provided with at least one first positioning tag 11. The first tag identification device 21 can continuously transmit radio frequency signals. When the first positioning tag 11 receives the radio frequency signal transmitted by the first tag identification device 21, the circuit inside the first positioning tag 11 will generate an induced current, thereby being activated and sending its own coded information. After the receiving antenna of the first tag identification device 21 receives the coded information, it demodulates and decodes the coded information to obtain the position information of the first positioning tag 11, thereby accurately determining the position of the track robot 200 on the track 100 at this time.

[0039] Exemplarily, the first tag identification device 21 can be a device such as an RFID reader that can transmit radio frequency signals and receive coded information, and the first positioning tag 11 can be an RFID tag that can generate induced current and generate coded information after receiving radio frequency signals, which is not specifically limited here.

[0040] Exemplarily, the position of the first tag identification device 21 on the track robot 200 can be determined based on the position of the first positioning tag 11 on the track 100, and the position of the first positioning tag 11 on the track 100 can also be determined based on the position of the first tag identification device 21 on the track robot 200, so that the first tag identification device 21 can best identify the first positioning tag 11, and no specific limitation is made here.

[0041] Exemplarily, during the movement of the track robot 200 on the track 100, at a certain moment, the first tag identification device 21 and the first positioning tag 11 are correspondingly arranged in the first direction. For example, the coverage area of ​​the first tag identification device 21 in the first direction coincides with the coverage area of ​​the first positioning tag 11 in the first direction. As a result, during the movement of the track robot 200 on the track 100, the first tag identification device 21 and the first positioning tag 11 are basically aligned in the first direction, thereby achieving the best recognition effect between the first tag identification device 21 and the first positioning tag 11.

[0042] The first direction is the thickness direction of the track robot 200, that is, the vertical direction (z-axis direction).

[0043] like Figure 2 and Figure 4 As shown, the track robot 200 is provided with a second tag recognition device 22, and the track 100 is provided with at least one second positioning tag 12. The second tag recognition device 22 can continuously photograph the track 100 to obtain photographed images, and decode the photographed images. When the second tag recognition device 22 successfully decodes the photographed images, the position information of the second positioning tag 12 can be decoded, thereby accurately determining the position of the track robot 200 on the track 100 at this time.

[0044] Exemplarily, the second tag recognition device 22 may be a QR code reader such as a camera, a mobile phone or other device capable of recognizing a QR code, and the second positioning tag 12 may be a tag capable of visually recognizing a QR code, which is not specifically limited here.

[0045] Exemplarily, the position of the second tag identification device 22 on the track robot 200 can be determined based on the position of the second positioning tag 12 on the track 100, and the position of the second positioning tag 12 on the track 100 can also be determined based on the position of the second tag identification device 22 on the track robot 200, so that the second tag identification device 22 can best identify the second positioning tag 12, without specific limitation herein.

[0046] Exemplarily, during the movement of the track robot 200 on the track 100, at a certain moment, the second tag identification device 22 and the second positioning tag 12 are correspondingly arranged in the second direction. For example, the coverage area of ​​the second tag identification device 22 in the second direction coincides with the coverage area of ​​the second positioning tag 12 in the second direction. As a result, during the movement of the track robot 200 on the track 100, the second tag identification device 22 and the second positioning tag 12 are basically aligned in the second direction, thereby achieving the best recognition effect between the second tag identification device 22 and the second positioning tag 12.

[0047] Among them, the second direction is the width direction of the track robot 200, that is, the y-axis direction, and the first direction and the second direction are both perpendicular to the forward direction of the track robot (x-axis direction).

[0048] Since the second tag recognition device 22 is a two-dimensional code reader and the second positioning tag 12 is a two-dimensional code for example, generally, the two-dimensional code reader needs to be completely aligned with the two-dimensional code to be able to successfully recognize it, that is, to successfully decode the captured image. Therefore, when the two-dimensional code reader determines that the two-dimensional code is successfully recognized, the position of the track robot 200 is the position corresponding to the two-dimensional code, and at this time the two-dimensional code reader and the two-dimensional code are set correspondingly in the second direction, thereby realizing the precise positioning of the track robot 200.

[0049] like Figure 5 As shown, the track 100 may be provided with one or more inspection track segments, which may be specifically provided according to actual conditions. When the track 100 is provided with multiple inspection track segments, each time the track robot passes through the inspection track segment, it will be accurately positioned, thereby correcting the displacement information provided by the encoder, thereby ensuring that the cumulative displacement error is avoided, thereby improving the positioning accuracy of the track robot and reducing the positioning cost.

[0050] See also Figure 6 , Figure 6 This is a schematic flow chart of a positioning method for a rail robot provided in an embodiment of the present application. The positioning method for the rail robot can perform targeted and precise positioning in the inspection track section, and can also continuously correct the positioning during the movement of the rail robot by discrete positioning, thereby eliminating the accumulated displacement error, thereby improving the positioning accuracy of the rail robot and reducing the positioning cost. The implementation method is simple and reliable, and is suitable for precise positioning scenarios of long-distance tracks.

[0051] like Figure 6 As shown, the positioning method of the rail robot includes steps S101 to S105.

[0052] S101. When the track robot moves on the track, first displacement information of the track robot on the track is obtained.

[0053] The track robot may be a robot that can move on a track, such as an inspection robot. The first displacement information is used to indicate the displacement of the track robot on the track.

[0054] Specifically, the track robot provided in the embodiment of the present application may be provided with an encoder in a built-in or external manner, and when the track robot moves on the track, the encoder can obtain the displacement of the track robot on the track, that is, the first displacement information.

[0055] Exemplarily, the encoder may obtain the first displacement information of the rail robot on the track by recording the mileage of the rail robot on the track.

[0056] S102. Determine first position information of the track robot according to the first displacement information.

[0057] The first position information may be position information determined by the track robot through an encoder. At this time, the position information may have a certain error, such as the track robot at a certain position point on the track.

[0058] In some embodiments, the track path information of the track is obtained; and the first position information of the track robot on the track is determined according to the first displacement information and the track path information. Thus, the position of the track robot on the track can be accurately determined according to the first displacement information.

[0059] The track path information may include track length, track shape, track route and other information.

[0060] Exemplarily, the track length, track shape, track route and other information of the track can be obtained, a virtual track is generated based on the above information, and the running path of the track robot is simulated on the virtual track according to the first displacement information, so as to accurately determine the position of the track robot on the track.

[0061] S103: When the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot.

[0062] Among them, the inspection track segment is the track segment in the track that needs to be accurately positioned. The inspection track segment is generally the track segment that needs to be inspected, which can be determined by the user according to the actual situation. The second position information is the position information that can be determined by the track robot through the positioning tag. At this time, the error of the position information is generally small. The positioning tag includes a first positioning tag and a second positioning tag. The tag recognition device includes a first tag recognition device and a second tag recognition device. The first tag recognition device is used to identify the first positioning tag, and the second tag recognition device is used to identify the second positioning tag.

[0063] like Figure 2 As shown, in some embodiments, when the rail robot moves on the track, the first tag recognition device continuously transmits a radio frequency signal; if it is determined that the first positioning tag receives the radio frequency signal, it is determined that the rail robot enters the inspection track segment. In this way, the moment when the rail robot enters the inspection track segment can be accurately determined, so as to facilitate the subsequent recognition of the second positioning tag by the second tag recognition device for positioning.

[0064] The radio frequency signal can be used to make the first positioning tag generate an induced current to generate coded information. The first tag identification device can be a device such as an RFID reader that can transmit radio frequency signals and receive coded information, and the first positioning tag can be an RFID tag that can generate an induced current to generate coded information after receiving the radio frequency signal, which is not specifically limited here.

[0065] Exemplarily, when the track robot moves on the track, it can continuously emit radio frequency signals through the RFID reader / writer. When the first positioning tag receives the radio frequency signal, it can be said that the radio frequency signal emitted by the RFID reader / writer on the track robot can be received by the RFID tag, that is, the track robot moves to the starting point of the inspection track segment, and it can be determined that the track robot enters the inspection track segment.

[0066] In some embodiments, the first tag recognition device obtains the coded information generated by the first positioning tag based on the radio frequency signal; the coded information is parsed to obtain the position information of the first positioning tag on the track, and the position information is used as the second position information of the track robot. In this way, the second position information can be accurately determined by the first positioning tag.

[0067] The coding information may be used to determine the position of the first positioning tag on the track.

[0068] Exemplarily, the coded information generated by the RFID tag based on the radio frequency signal can be obtained through an RFID reader / writer; the coded information is parsed to obtain the position information of the RFID tag on the track. Since the radio frequency signal emitted by the RFID reader / writer on the track robot can be received by the RFID tag at this time, that is, the track robot moves to the starting point of the inspection track section at this time, the position information of the RFID tag on the track at this time can be used as the second position information of the track robot.

[0069] like Figure 4As shown, in some embodiments, when the rail robot enters the inspection track section, the second tag recognition device continuously acquires the captured images and decodes the captured images; if the second tag recognition device successfully decodes the captured images, the position information corresponding to the second positioning tag is used as the second position information of the rail robot. Thus, the second position information of the rail robot can be accurately determined through the second positioning tag.

[0070] The captured image is an image captured by the second tag recognition device on the track. The second tag recognition device can be a QR code reader such as a camera, a mobile phone, or other device capable of recognizing a QR code, and the second positioning tag can be a tag capable of visually recognizing a QR code, which is not specifically limited here.

[0071] Exemplarily, after determining that the track robot has entered the inspection track section, the captured images are continuously acquired through the QR code reader and the captured images are decoded; if the QR code reader successfully decodes the captured images, the position information corresponding to the QR code is used as the second position information of the track robot.

[0072] Since the RFID reader will emit radio frequency signals within a certain range, the rail robot may not be at the position corresponding to the RFID tag when the RFID reader receives the coded information, so there may still be a certain positioning error. Therefore, in the embodiment of the present application, the first positioning tag can be continuously identified by the first tag recognition device to determine whether the rail robot has entered the inspection track section. After determining that the rail robot has entered the inspection track section, the second tag recognition device can be controlled to continuously obtain the captured image and continuously decode the captured image. Since the two-dimensional code generally needs to be fully aligned with the two-dimensional code reader to be successfully decoded, after determining that the captured image is successfully decoded, it can be said that the second tag recognition device is basically aligned with the second positioning tag, that is, the position information corresponding to the second positioning tag can be used as the second position information of the rail robot. At the same time, it can also ensure that the positioning accuracy of the second position information of the rail robot is high at this time.

[0073] In some embodiments, the number of second positioning tags in the inspection track segment is determined according to the length of the inspection track segment; the position information of each second positioning tag is determined according to the number of tags; and the second positioning tag is generated according to the position information of each second positioning tag. In this way, the number of tags and the position information of the second positioning tags can be accurately determined according to the length of the inspection track segment.

[0074] Exemplarily, the number of second positioning tags in the inspection track segment is determined based on the length of the inspection track segment, for example, 5. Since the number of second positioning tags is, for example, 5, they can be set in the inspection track segment in the order of arrangement of the second positioning tags. Since each second positioning tag has a different arrangement order, the position information of each second positioning tag is also different. Therefore, the position information of each second positioning tag can be input into its corresponding coding information to generate a second positioning tag.

[0075] S104: Update the first displacement information according to the first position information and the second position information to obtain second displacement information.

[0076] Among them, the second displacement information is the displacement information after updating the first displacement information, so as to update the mileage information of the encoder, so that the track robot can maintain relatively accurate positioning in areas outside the inspection track section, and can effectively eliminate the accumulated displacement error, thereby improving the positioning accuracy of the track robot.

[0077] In some embodiments, the displacement difference is determined according to the first position information and the second position information, and the first displacement information is updated according to the displacement difference to obtain the second displacement information, thereby accurately updating the second displacement information.

[0078] Exemplarily, the displacement difference can be determined to be 5m based on the first position information and the second position information. If the rail robot corresponding to the second position information is located in front of the rail robot corresponding to the first position information, and the first displacement information is 100m, since the rail robot corresponding to the second position information is located in front of the rail robot corresponding to the first position information, the first displacement information can be updated according to the displacement difference, and the second displacement information is 105m.

[0079] It should be noted that the second displacement information can be obtained by adjusting the first displacement information according to the first position information and the second position information, so as to effectively eliminate the accumulated displacement error, thereby improving the positioning accuracy of the track robot.

[0080] S105: After the track robot leaves the inspection track section, the track robot is repositioned according to the second displacement information.

[0081] Specifically, when the track robot leaves the inspection track segment, it is impossible to use the tag recognition device to identify the positioning tag for positioning. Generally, the encoder is used to record the displacement information of the track robot itself for positioning. Since the track robot can obtain precise positioning within the inspection track segment, the second displacement information can be guaranteed to be accurate when the track robot leaves the inspection track segment. Therefore, the encoder can re-record the displacement information of the track robot itself based on the second displacement information for positioning, thereby effectively clearing the accumulated displacement error, thereby improving the positioning accuracy of the track robot near the inspection track segment.

[0082] In some embodiments, the track path information and the inspection task of the track robot are obtained; the inspection position in the inspection task is determined, and the inspection track segment is determined according to the inspection position and the track path information; and a positioning tag is generated at a corresponding position in the inspection track segment. Thus, a positioning tag can be generated in the inspection track segment according to the inspection position, or the positioning tag can be moved to the inspection track segment.

[0083] The track path information may include track length, track shape, track route, etc. The inspection task may include the inspection position corresponding to the track robot.

[0084] Exemplarily, the track path information and the inspection task of the track robot are obtained; the inspection positions in the inspection task are determined to be location A and location B, and then the preset track distance centered on location A can be used as the corresponding inspection track segment based on the track length, track shape, track route and other information, and the preset track distance centered on location B can be used as the corresponding inspection track segment. Finally, RFID tags and QR codes can be automatically generated on the inspection track segments corresponding to locations A and B, and the RFID tags and QR codes can also be set on the inspection track segments corresponding to locations A and B, without specific limitation here.

[0085] like Figure 5 As shown, the track can be provided with one or more inspection track segments, which can be specifically provided according to the actual situation. When the track is provided with multiple inspection track segments, each time the track robot passes through the inspection track segment, it will perform precise positioning, thereby correcting the displacement information provided by the encoder, thereby ensuring that the cumulative displacement error is avoided, thereby improving the positioning accuracy of the track robot, and can perform precise positioning within the inspection track segment, and perform coarse positioning outside the inspection track segment, without the need for continuous precise positioning, thereby effectively reducing the positioning cost, and the implementation method is simple and reliable, which is suitable for precise positioning scenarios of long-distance tracks.

[0086] See also Figure 7 , Figure 7 A schematic block diagram of the structure of a rail robot provided in an embodiment of the present invention.

[0087] like Figure 7 As shown, the rail robot 200 may include a processor 201 and a memory 202, and the processor 201 and the memory 202 are connected via a bus 203, such as an I2C (Inter-integrated Circuit) bus.

[0088] In an exemplary embodiment, the processor 201 can be used to provide computing and control capabilities to support the operation of the entire rail robot. The processor 201 can be a central processing unit (CPU), and the processor 201 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0089] Specifically, the memory 202 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0090] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a partial structure related to the embodiment of the present invention, and does not constitute a limitation of the rail robot to which the embodiment of the present invention is applied. The specific server may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0091] The processor 201 is used to run a computer program stored in the memory, and implement any one of the positioning methods for the rail robot provided in the embodiments of the present invention when executing the computer program.

[0092] In one embodiment, the processor 201 is used to run a computer program stored in a memory, and implement the following steps when executing the computer program: when the track robot moves on the track, obtain first displacement information of the track robot on the track; determine first position information of the track robot based on the first displacement information; when the track robot enters the inspection track segment, identify the positioning tag of the inspection track segment through the tag identification device to obtain second position information of the track robot; update the first displacement information based on the first position information and the second position information to obtain second displacement information; when the track robot leaves the inspection track segment, reposition the track robot based on the second displacement information.

[0093] In one embodiment, the processor 201 is further used to implement: when the rail robot moves on the rail, the radio frequency signal is continuously emitted through the first tag identification device; if it is determined that the first positioning tag receives the radio frequency signal, it is determined that the rail robot enters the inspection rail segment.

[0094] In one embodiment, when the processor 201 realizes that when the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot, it is used to implement: obtaining the coding information generated by the first positioning tag based on the radio frequency signal by the first tag identification device; parsing the coding information to obtain the position information of the first positioning tag on the track, and using the position information as the second position information of the track robot.

[0095] In one embodiment, when the processor 201 realizes that when the rail robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the rail robot, it is used to realize: after the rail robot enters the inspection track segment, the captured images are continuously acquired by the second tag identification device, and the captured images are decoded; if the second tag identification device successfully decodes the captured images, the position information corresponding to the second positioning tag is used as the second position information of the rail robot.

[0096] In one embodiment, the processor 201 is further used to implement: determining the number of second positioning tags in the inspection track segment according to the length of the inspection track segment; determining the position information of each second positioning tag according to the number of tags; and generating the second positioning tag according to the position information of each second positioning tag.

[0097] In one embodiment, when the processor 201 implements the determining of the first position information of the track robot according to the first displacement information, it is used to implement: obtaining the track path information of the track; and determining the first position information of the track robot on the track according to the first displacement information and the track path information.

[0098] In one embodiment, when the root updates the first displacement information according to the first position information and the second position information to obtain the second displacement information, the processor 201 is used to implement: determining the displacement difference according to the first position information and the second position information; and updating the first displacement information according to the displacement difference to obtain the second displacement information.

[0099] In one embodiment, the processor 201 is also used to implement: obtaining track path information and the inspection task of the track robot; determining the inspection position in the inspection task, and determining the inspection track segment based on the inspection position and the track path information; and generating the positioning tag at the corresponding position in the inspection track segment.

[0100] It should be noted that those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the track robot described above can refer to the corresponding process in the aforementioned embodiment and will not be repeated here.

[0101] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the above program instructions to implement any one of the positioning methods for detecting a track robot provided in the embodiments of the present application.

[0102] For example, the program is loaded by the processor and may execute the following steps:

[0103] When the track robot moves on the track, first displacement information of the track robot on the track is obtained; first position information of the track robot is determined based on the first displacement information; when the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain second position information of the track robot; the first displacement information is updated based on the first position information and the second position information to obtain second displacement information; when the track robot leaves the inspection track segment, the track robot is repositioned based on the second displacement information.

[0104] The computer-readable storage medium may be an internal storage unit of the rail robot of the aforementioned embodiment, such as a hard disk or memory of the rail robot. The computer-readable storage medium may also be an external storage device of the rail robot, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital Card, SD Card), a flash card (Flash Card), etc. equipped on the rail robot.

[0105] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, programs required for at least one function, etc.; the data storage area may store data created according to each program, etc.

[0106] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A positioning method for a rail robot, characterized in that: The track robot is used to move on a track, the track is provided with an inspection track segment, the inspection track segment is provided with a plurality of positioning tags, the track robot is provided with a tag recognition device, the tag recognition device is used to recognize the positioning tag, and the method includes: When the track robot moves on the track, obtaining first displacement information of the track robot on the track; Determine first position information of the track robot according to the first displacement information; When the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot; updating the first displacement information according to the first position information and the second position information to obtain second displacement information; After the track robot leaves the inspection track segment, the track robot is repositioned according to the second displacement information.

2. The method according to claim 1, characterized in that The positioning tag includes a first positioning tag, the tag identification device includes a first tag identification device, the first tag identification device is used to identify the first positioning tag, and the method further includes: When the track robot moves on the track, the first tag recognition device continuously transmits a radio frequency signal; If it is determined that the first positioning tag receives the radio frequency signal, it is determined that the track robot enters the inspection track segment.

3. The method according to claim 2, characterized in that When the track robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the track robot, including: Acquiring, by the first tag identification device, coding information generated by the first positioning tag based on the radio frequency signal; The coded information is parsed to obtain the position information of the first positioning tag on the track, and the position information is used as the second position information of the track robot.

4. The method according to claim 1, characterized in that: The positioning tag includes a second positioning tag, the tag identification device includes a second tag identification device, the second tag identification device is used to identify the second positioning tag, and when the rail robot enters the inspection track segment, the positioning tag of the inspection track segment is identified by the tag identification device to obtain the second position information of the rail robot, including: When the track robot enters the inspection track section, the second tag recognition device continuously acquires the captured images and decodes the captured images; If the second tag recognition device decodes the captured image successfully, the position information corresponding to the second positioning tag is used as the second position information of the track robot.

5. The method according to claim 4, characterized in that The method further comprises: Determining the number of second positioning tags in the inspection track segment according to the length of the inspection track segment; Determine the position information of each of the second positioning tags according to the number of the tags; The second positioning tags are generated according to the position information of each of the second positioning tags.

6. The method according to claim 1, characterized in that The determining the first position information of the track robot according to the first displacement information comprises: Obtaining track path information of the track; The first position information of the track robot on the track is determined according to the first displacement information and the track path information.

7. The method according to claim 1, characterized in that The updating the first displacement information according to the first position information and the second position information to obtain the second displacement information includes: determining a displacement difference according to the first position information and the second position information; The first displacement information is updated according to the displacement difference to obtain second displacement information.

8. The method according to claim 1, characterized in that: The method further comprises: Acquiring track path information and inspection tasks of the track robot; Determine an inspection position in the inspection task, and determine the inspection track segment according to the inspection position and the track path information; The positioning tag is generated at a corresponding position in the inspection track segment.

9. A rail robot, characterized in that: The track robot includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the positioning method of the rail robot as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the positioning method of the rail robot according to any one of claims 1 to 8.

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