Positioning methods for orbital robots, orbital robots, and readable storage media

Abstract

This application discloses a positioning method for a tracked robot, relating to the field of robotics. The method includes: acquiring first displacement information of the tracked robot on the track when the robot moves on the track; determining first position information of the tracked robot based on the first displacement information; when the tracked robot enters an inspection track segment, identifying a positioning tag on the inspection track segment using a tag recognition device to obtain second position information of the tracked robot; updating the first displacement information based on the first position information and the second position information to obtain second displacement information; and repositioning the tracked robot based on the second displacement information after the robot leaves the inspection track segment. This application aims to solve the problems of low positioning accuracy and high positioning cost of existing tracked robots.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a positioning method for an orbital robot, the orbital robot, and a readable storage medium. Background Technology

[0002] Track-mounted robots are typically suspended on tracks and can operate autonomously along them. Therefore, they can achieve autonomous, unmanned inspections in scenarios such as conveyor belt systems, substations, switch rooms, pipe corridors, and tunnels.

[0003] Existing positioning solutions for tracked robots mostly rely on encoders built into the motor or external encoders to provide mileage information for positioning. However, this positioning method is prone to large errors due to the robot slipping on the track, resulting in low positioning accuracy. Furthermore, the longer the robot travels, the greater the accumulated error becomes, leading to even larger positioning errors. Summary of the Invention

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

[0005] In a first aspect, this application provides a positioning method for a track-based robot, the track-based robot being used to move on a track, the track being provided with an inspection track segment, the inspection track segment being provided with multiple positioning tags, the track-based robot being provided with a tag recognition device, the tag recognition device being used to identify the positioning tags, the method comprising:

[0006] When the orbital robot moves on the track, the first displacement information of the orbital robot on the track is acquired;

[0007] The first position information of the track robot is determined based on the first displacement information;

[0008] When the track robot enters the inspection track section, the tag recognition device identifies the positioning tag of the inspection track section to obtain the second position information of the track robot;

[0009] The first displacement information is updated based on the first position information and the second position information to obtain the second displacement information;

[0010] After the track robot leaves the inspection track section, the track robot is repositioned based on the second displacement information.

[0011] Secondly, this application provides a track robot, which includes a memory and a processor;

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

[0013] The processor is configured to execute the computer program and, in executing the computer program, implement the positioning method for the orbital robot as described above.

[0014] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the positioning method for the tracked robot as described above.

[0015] The positioning method, the track robot, and the readable storage medium provided in this application embodiment involve acquiring first displacement information of the track robot on the track when it moves on the track; determining first position information of the track robot based on the first displacement information; when the track robot enters an inspection track section, identifying the positioning tag of the inspection track section through a tag recognition device to obtain second position information of the track robot; updating the first displacement information based on the first and second position information to obtain second displacement information; and repositioning the track robot based on the second displacement information after it leaves the inspection track section. This allows for targeted and precise positioning on inspection track sections, and also enables continuous correction of positioning during the track robot's movement through discrete positioning, thereby eliminating accumulated displacement errors. This improves the positioning accuracy of the track robot, reduces positioning costs, and is simple and reliable to implement, making it suitable for precise positioning scenarios on long-distance tracks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a positioning system provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram illustrating an application scenario of a track robot cooperating with a track, as provided in an embodiment of this application.

[0019] Figure 3 This is a schematic diagram illustrating an application scenario where a first positioning and identification device and a first positioning tag are used in conjunction, according to an embodiment of this application.

[0020] Figure 4This is a schematic diagram illustrating an application scenario where a second positioning and identification device and a second positioning tag are used in conjunction, as provided in an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of an application scenario where a track is configured with multiple inspection track segments, as provided in an embodiment of this application.

[0022] Figure 6 This is a flowchart illustrating the steps of a positioning method for an orbital robot provided in an embodiment of this application;

[0023] Figure 7 This is a schematic block diagram of the structure of a track robot provided in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

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

[0027] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0028] Existing positioning solutions for tracked robots can achieve positioning by using encoders built into the motor or external encoders to provide mileage information. However, this positioning method is prone to large errors due to the tracked robot slipping on the track, resulting in low positioning accuracy. At the same time, the longer the tracked robot travels, the greater the accumulated error.

[0029] Existing positioning solutions for tracked robots can also be implemented by adding a custom rack on the track that meshes with gears on the robot body, thereby reducing slippage and improving positioning accuracy. However, this positioning solution requires custom racks and custom tracks, resulting in higher overall positioning costs.

[0030] Therefore, embodiments of this application provide a positioning method for a track robot, a track robot, and a computer-readable storage medium. The positioning method for the track robot can be applied to a track robot or a server. When the track robot moves on the track, it acquires first displacement information on the track; first position information of the track robot is determined based on the first displacement information; when the track robot enters an inspection track section, a tag recognition device identifies the positioning tag of the inspection track section to obtain second position information of the track robot; the first displacement information is updated based on the first and second position information to obtain second displacement information; when the track robot leaves the inspection track section, it is repositioned based on the second displacement information. This allows for targeted and precise positioning on inspection track sections, and also enables continuous correction of positioning during the track robot's movement through discrete positioning, thereby eliminating accumulated displacement errors, improving the positioning accuracy of the track robot, reducing positioning costs, and providing a simple and reliable implementation suitable for precise positioning scenarios on long-distance tracks.

[0031] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a positioning system 10 provided in an embodiment of this 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 can communicate via wireless communication methods such as Bluetooth, 4G, 5G, 6G, and WIFI.

[0033] For example, the track robot 200 can be a robot such as an inspection robot that is able to move on a track.

[0034] For example, server 300 can be a standalone 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 communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0035] It should be noted that the execution subject of the self-moving device positioning method in this application embodiment can be either 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 section, it identifies the positioning tag of the inspection track section through a tag recognition device to obtain the 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 the second displacement information; when the track robot leaves the inspection track section, the track robot is repositioned based on the second displacement information. In this application embodiment, for ease of explanation, the positioning will be described using the track robot 200 as the execution subject.

[0036] Before introducing the positioning method of the track robot provided in the embodiments of this application, the structure of the track robot 200 and track 100 provided in the embodiments of this application will be introduced first.

[0037] like Figure 2 As shown, the track robot 200 is mounted on track 100 and can operate autonomously on track 100, thus achieving autonomous unmanned inspection. Track 100 is equipped with an inspection track section, and the inspection track section is equipped with multiple positioning tags. The track robot is equipped with a tag recognition device, which is used to identify the positioning tags.

[0038] like Figure 2 and Figure 3 As shown, the track robot 200 is equipped with a first tag identification device 21, and the track 100 is equipped 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 encoded information. After the receiving antenna of the first tag identification device 21 receives the encoded information, it demodulates and decodes the encoded 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] For example, the first tag identification device 21 can be an RFID reader or other device capable of transmitting radio frequency signals and receiving encoded information, and the first positioning tag 11 can be an RFID tag capable of generating encoded information by generating induced current after receiving radio frequency signals, without being specifically limited here.

[0040] For example, the position of the first tag recognition 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 recognition device 21 on the track robot 200, so that the first tag recognition device 21 can recognize the first positioning tag 11 to the best effect. No specific limitation is made here.

[0041] For example, during the movement of the track robot 200 on the track 100, at a certain moment, the first label recognition device 21 and the first positioning label 11 are correspondingly set in the first direction. For example, the coverage area of ​​the first label recognition device 21 in the first direction coincides with the coverage area of ​​the first positioning label 11 in the first direction. This allows the first label recognition device 21 and the first positioning label 11 to be basically aligned in the first direction during the movement of the track robot 200 on the track 100, thereby achieving the best recognition effect between the first label recognition device 21 and the first positioning label 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 equipped with a second tag recognition device 22, and the track 100 is equipped with at least one second positioning tag 12. The second tag recognition device 22 can continuously take pictures of the track 100 to obtain the captured images and perform decoding processing on the captured images. When the second tag recognition device 22 successfully decodes the captured images, it can decode the position information of the second positioning tag 12, thereby accurately determining the position of the track robot 200 on the track 100 at this time.

[0044] For example, the second label recognition device 22 can be a QR code reader or writer, such as a camera or mobile phone, which can recognize QR codes, and the second positioning label 12 can be a label that can visually recognize QR codes, without being specifically limited here.

[0045] For example, the position of the second tag recognition 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 recognition device 22 on the track robot 200, so that the recognition effect of the second tag recognition device 22 on the second positioning tag 12 is the best, without specific limitations here.

[0046] For example, during the movement of the track robot 200 on the track 100, at a certain moment, the second label recognition device 22 and the second positioning label 12 are correspondingly set in the second direction. For example, the coverage area of ​​the second label recognition device 22 in the second direction coincides with the coverage area of ​​the second positioning label 12 in the second direction. This allows the second label recognition device 22 and the second positioning label 12 to be basically aligned in the second direction during the movement of the track robot 200 on the track 100, thereby achieving the best recognition effect between the second label recognition device 22 and the second positioning label 12.

[0047] The second direction is the width direction of the track robot 200, i.e., the y-axis direction. Both the first and second directions are perpendicular to the forward direction (x-axis direction) of the track robot.

[0048] Since the second label recognition device 22 is a QR code reader and the second positioning label 12 is a QR code, generally, the QR code reader needs to be completely aligned with the QR code to be recognized successfully, that is, to successfully decode the captured image. Therefore, when the QR code reader determines that the QR code has been successfully recognized, the position of the track robot 200 is the position corresponding to the QR code. At this time, the QR code reader and the QR code are set in a corresponding position in the second direction, thereby achieving accurate positioning of the track robot 200.

[0049] like Figure 5 As shown, track 100 can be configured with one or more inspection track segments, which can be set according to the actual situation. When track 100 is configured with multiple inspection track segments, the track robot will perform precise positioning whenever it passes through an inspection track segment, thereby correcting the displacement information provided by the encoder, thus ensuring that cumulative displacement errors are avoided, thereby improving the positioning accuracy of the track robot and reducing positioning costs.

[0050] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a positioning method for a track robot provided in an embodiment of this application. This positioning method can perform targeted and precise positioning on inspected track sections. Furthermore, it can continuously correct the positioning during the robot's movement using discrete positioning, thereby eliminating accumulated displacement errors. This improves the positioning accuracy of the track robot, reduces positioning costs, and is simple and reliable to implement, making it suitable for precise positioning scenarios on long-distance tracks.

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

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

[0053] The track-based robot can be an inspection robot or other robot capable of moving on a track. The first displacement information is used to represent the displacement generated by the track-based robot on the track.

[0054] Specifically, the track robot provided in this application embodiment can be equipped with an encoder, either built-in or externally. When the track robot moves on the track, the encoder can obtain the displacement of the track robot on the track, i.e., the first displacement information.

[0055] For example, an encoder can obtain the first displacement information of a track robot on the track by recording the mileage the track robot travels on the track.

[0056] S102. Determine the first position information of the track robot based on the first displacement information.

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

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

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

[0060] For example, information such as the track length, track shape, and track route can be obtained, and a virtual track can be generated using the above information. The running path of the track robot can be simulated on the virtual track based on the first displacement information, thereby accurately determining the position of the track robot on the track.

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

[0062] The inspection track segment refers to the track segment within the track that requires precise positioning. This inspection track segment is generally the specific segment requiring inspection, and the exact segment can be determined by the user based on actual conditions. The second location information is the position information that can be determined for the track robot using positioning tags. In this case, the error in the location information is generally small. The positioning tags include 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 recognize the first positioning tag, and the second tag recognition device is used to recognize the second positioning tag.

[0063] like Figure 2 As shown, in some embodiments, when the track robot moves on the track, it continuously transmits radio frequency signals through a first tag identification device; if it is determined that the first positioning tag receives the radio frequency signal, it is determined that the track robot has entered the inspection track segment. This allows for accurate determination of the moment the track robot enters the inspection track segment, facilitating subsequent identification and positioning of the second positioning tag by a second tag identification device.

[0064] The radio frequency (RF) signal can be used to induce a current in the first positioning tag to generate coded information. The first tag identification device can be an RFID reader or other device capable of transmitting RF signals and receiving coded information, and the first positioning tag can be an RFID tag capable of generating coded information by inducing a current after receiving an RF signal; no specific limitation is made here.

[0065] For example, when the track robot moves on the track, it can continuously transmit radio frequency signals through the RFID reader. When the first positioning tag receives the radio frequency signal, it can be said that the radio frequency signal transmitted by the RFID reader on the track robot can be received by the RFID tag. That is, at this time, the track robot has moved to the starting point of the inspection track section, and it can be determined that the track robot has entered the inspection track section.

[0066] In some embodiments, the encoded information generated by the first positioning tag based on the radio frequency signal is obtained through the first tag identification device; the encoded 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. Thus, the second position information can be accurately determined using the first positioning tag.

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

[0068] For example, the RFID reader can obtain the encoded information generated by the RFID tag based on the radio frequency signal; the encoded 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 on the track robot can be received by the RFID tag at this time, that is, the track robot has moved to the starting point of the inspection track segment. Therefore, 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, after the track robot enters the inspection track section, it continuously acquires and decodes images through a second tag recognition device. If the second tag recognition device successfully decodes the image, the position information corresponding to the second positioning tag is used as the second position information of the track robot. Thus, the second position information of the track robot can be accurately determined using the second positioning tag.

[0070] The captured image is an image obtained by the second tag recognition device from the track. The second tag recognition device can be a QR code reader, such as a camera or mobile phone, or any device capable of recognizing QR codes. The second positioning tag can be a tag that allows visual recognition of QR codes; no specific limitations are made here.

[0071] For example, after determining that the track robot has entered the inspection track section, the robot continuously acquires and decodes images using a QR code reader. If the QR code reader successfully decodes the image, the location information corresponding to the QR code is used as the second location information of the track robot.

[0072] Since RFID readers emit radio frequency signals within a certain range, the track robot may not be at the location corresponding to the RFID tag when the RFID reader receives the encoded information, thus potentially leading to positioning errors. Therefore, in this embodiment, the first tag identification device can continuously identify the first positioning tag to determine if the track robot has entered the inspection track section. After confirming the track robot's entry, the second tag identification device can continuously acquire and decode images. Since QR codes generally require perfect alignment with the QR code reader for successful decoding, successful image decoding indicates that the second tag identification device and the second positioning tag are essentially aligned. This means the location information corresponding to the second positioning tag can be used as the track robot's second location information, ensuring high positioning accuracy for the second location information.

[0073] In some embodiments, the number of second positioning tags within the inspection track segment is determined based on the length of the inspection track segment; the position information of each second positioning tag is determined based on the number of tags; and a second positioning tag is generated based on the position information of each second positioning tag. Thus, the number of second positioning tags and their position information can be accurately determined based on the length of the inspection track segment.

[0074] For example, the number of second positioning tags in the inspection track segment is determined according to the length of the inspection track segment, for example, five. Since the number of second positioning tags is five, they can be set sequentially in the inspection track segment according to the arrangement order of the second positioning tags. Since the arrangement order of each second positioning tag is different, 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 encoding information to generate the second positioning tag.

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

[0076] The second displacement information is the displacement information updated from the first displacement information, so as to update the encoder's travel mileage information. This allows the track robot to maintain relatively accurate positioning even in areas outside the inspection track section, effectively eliminating accumulated displacement errors and thus improving the positioning accuracy of the track robot.

[0077] In some embodiments, a displacement difference is determined based on first position information and second position information; the first displacement information is updated based on the displacement difference to obtain second displacement information. This allows for accurate updating of the second displacement information.

[0078] For example, the displacement difference can be determined to be 5m based on the first position information and the second position information. If the track robot corresponding to the second position information is in front of the track robot corresponding to the first position information, and the first displacement information is 100m, since the track robot corresponding to the second position information is in front of the track robot corresponding to the first position information, the first displacement information can be updated based on the displacement difference to obtain the second displacement information as 105m.

[0079] It should be noted that the second displacement information can be obtained by adjusting the first displacement information based on the first and second position information, thereby effectively eliminating the accumulated displacement error and improving the positioning accuracy of the track robot.

[0080] S105. After the track robot leaves the inspection track section, the track robot is repositioned based on the second displacement information.

[0081] Specifically, once the track robot leaves the inspection track section, it can no longer use the tag recognition device to identify the positioning tag for positioning. Generally, the positioning is achieved by using an encoder to record the displacement information of the track robot itself. Since the track robot can obtain accurate positioning within the inspection track section, the second displacement information can be guaranteed to be accurate when the track robot leaves the inspection track section. This allows the encoder to 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 and improving the positioning accuracy of the track robot near the inspection track section.

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

[0083] The track path information can include track length, track shape, and track route. The inspection task can include the inspection location corresponding to the track robot.

[0084] For example, the system obtains track path information and the inspection task of the track robot; determines the inspection locations in the inspection task as location A and location B; then, based on information such as track length, track shape, and track route, it uses a preset track distance centered on location A as its corresponding inspection track segment and a preset track distance centered on location B as its corresponding inspection track segment; finally, it can automatically generate RFID tags and QR codes on the inspection track segments corresponding to location A and location B, and can also set RFID tags and QR codes on the inspection track segments corresponding to location A and location B, without specific limitations here.

[0085] like Figure 5 As shown, for example, the track can be configured with one or more inspection track segments, which can be set according to the actual situation. When the track is configured with multiple inspection track segments, the track robot will perform precise positioning whenever it passes through an inspection track segment, thereby correcting the displacement information provided by the encoder, thus ensuring that cumulative displacement errors are avoided, thereby improving the positioning accuracy of the track robot. Moreover, precise positioning can be performed within the inspection track segment, and coarse positioning can be performed outside the inspection track segment, without the need for continuous precise positioning, thus effectively reducing positioning costs. The implementation method is simple and reliable, and it is suitable for precise positioning scenarios on long-distance tracks.

[0086] Please see Figure 7 , Figure 7 This is a schematic block diagram of the structure of a track robot provided in an embodiment of the present invention.

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

[0088] In one exemplary embodiment, processor 201 can be used to provide computing and control capabilities to support the operation of the entire track robot. Processor 201 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

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

[0090] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the embodiments of the present invention, and does not constitute a limitation on the orbital robot to which the embodiments of the present invention are applied. The specific server may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

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

[0092] In one embodiment, the processor 201 is configured to run a computer program stored in a memory, and when executing the computer program, perform the following steps: when the track robot moves on the track, acquire 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 recognition 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 configured to: continuously transmit radio frequency signals through the first tag identification device when the track robot moves on the track; if it is determined that the first positioning tag receives the radio frequency signal, then it is determined that the track robot has entered the inspection track segment.

[0094] In one embodiment, when the track robot enters the inspection track section, the processor 201 identifies the positioning tag of the inspection track section through the tag identification device to obtain the second position information of the track robot. The processor 201 then performs the following: obtains the encoded information generated by the first positioning tag based on the radio frequency signal through the first tag identification device; parses the encoded information to obtain the position information of the first positioning tag on the track; and uses the position information as the second position information of the track robot.

[0095] In one embodiment, when the processor 201 implements the step of identifying the positioning tag of the inspection track segment through the tag recognition device to obtain the second position information of the track robot when the track robot enters the inspection track segment, it performs the following: after the track robot enters the inspection track segment, it continuously acquires and decodes the captured images through the second tag recognition device; if the second tag recognition device successfully decodes the captured images, it uses the position information corresponding to the second positioning tag as the second position information of the track robot.

[0096] In one embodiment, the processor 201 is further configured to: determine the number of second positioning tags within the inspection track segment based on the length of the inspection track segment; determine the position information of each second positioning tag based on the number of tags; and generate a second positioning tag based on the position information of each second positioning tag.

[0097] In one embodiment, when the processor 201 implements the step of determining the first position information of the track robot based on the first displacement information, it is configured to: acquire the track path information of the track; and determine the first position information of the track robot on the track based on the first displacement information and the track path information.

[0098] In one embodiment, when the processor 201 updates the first displacement information based on the first position information and the second position information to obtain second displacement information, it is configured to: determine a displacement difference based on the first position information and the second position information; and update the first displacement information based on the displacement difference to obtain the second displacement information.

[0099] In one embodiment, the processor 201 is further configured to: acquire track path information and the inspection task of the track robot; determine the inspection position in the inspection task, and determine the inspection track segment based on the inspection position and the track path information; and generate the positioning tag at the corresponding position in the inspection track segment.

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

[0101] The embodiments of this application also provide a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes the program instructions to implement any of the positioning methods for detecting a tracked robot provided in the embodiments of this application.

[0102] For example, when the program is loaded by the processor, it can perform the following steps:

[0103] When the track robot moves on the track, the system acquires first displacement information of the track robot on the track; determines first position information of the track robot based on the first displacement information; when the track robot enters the inspection track section, the system identifies the positioning tag of the inspection track section through the tag recognition device to obtain second position information of the track robot; updates the first displacement information based on the first position information and the second position information to obtain second displacement information; and repositions the track robot based on the second displacement information after the track robot leaves the inspection track section.

[0104] The computer-readable storage medium can be an internal storage unit of the track robot described in the foregoing embodiments, such as the hard drive or memory of the track robot. Alternatively, the computer-readable storage medium can be an external storage device of the track robot, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD card), flash card, etc., equipped on the track robot.

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

[0106] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method of a rail robot, characterized by, The track robot is used to move on a track, the track is provided with an inspection track section, the inspection track section is provided with a plurality of positioning tags, the track robot is provided with a tag identification device, the tag identification device is used to identify the positioning tags, the positioning tags include second positioning tags, the tag identification device includes second tag identification devices, the second tag identification devices are used to identify the second positioning tags, and the method comprises: When the track robot moves on the track, first displacement information of the track robot on the track is acquired; Track path information of the track is acquired; According to the first displacement information and the track path information, first position information of the track robot on the track is determined; When the track robot enters the inspection track section, the second tag identification device continuously acquires a shooting image and decodes the shooting image; If the second tag identification device decodes the shooting image successfully, position information corresponding to the second positioning tag is taken as second position information of the track robot; According to the first position information and the second position information, a displacement difference value is determined; According to the displacement difference value, the first displacement information is updated to obtain second displacement information; When the track robot leaves the inspection track section, the track robot is repositioned according to the second displacement information; The method further comprises: According to the length of the inspection track section, the number of tags of the second positioning tags in the inspection track section is determined; According to the number of tags, position information of each second positioning tag is determined; According to the position information of each second positioning tag, the second positioning tags are generated; Track path information and an inspection task of the track robot are acquired; Inspection positions in the inspection task are determined, and the inspection track section is determined according to the inspection positions and the track path information; The positioning tags are generated at corresponding positions in the inspection track section.

2. The method of claim 1, wherein, The positioning tags include first positioning tags, the tag identification device includes first tag identification devices, the first tag identification devices are used to identify the first positioning tags, and the method further comprises: When the track robot moves on the track, the first tag identification devices continuously emit radio frequency signals; If it is determined that the first positioning tags receive the radio frequency signals, it is determined that the track robot enters the inspection track section.

3. The method of claim 2, wherein, When the track robot enters the inspection track section, the positioning tags of the inspection track section are identified by the tag identification device to obtain second position information of the track robot, which comprises: The first tag identification devices acquire encoding information generated by the first positioning tags based on the radio frequency signals; The encoding information is analyzed to obtain position information of the first positioning tags on the track, and the position information is taken as second position information of the track robot.

4. A rail robot, characterized in that, The track robot comprises a memory and a processor; The memory is used to store a computer program; The processor is configured to execute the computer program and implement the positioning method of the track robot according to any one of claims 1 to 3 when executing the computer program.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is configured to enable the processor to implement the positioning method of the track robot according to any one of claims 1 to 3 when the processor executes the computer program.

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