Steel structure-oriented rust removal robot positioning and navigation method and device

Abstract

The invention discloses a steel structure-oriented rust removal robot positioning and navigation method and device, a storage medium and electronic equipment. The method comprises the following steps: constructing a global map based on a working area; wherein the working area comprises a plurality of cylindrical light reflecting plates, and square light reflecting stickers are pasted on the surfaces of the steel structure workpieces in the working area; acquiring scanning data of the cylindrical reflecting plate, and acquiring scanning data of the square reflecting sticker; determining the pose information of the square reflective sticker based on the scanning data of the cylindrical reflector and the pose information of the rust removal robot; and fitting linear features based on the pose information of the plurality of square reflective stickers, generating a plurality of navigation sites of the rust removal robot, and forming a navigation route based on the navigation sites. According to the invention, accurate positioning information can be provided, the long-distance navigation requirement of an outdoor working environment is met, the production efficiency is improved, and the use is convenient.

Description

Technical Field

[0001] The present application relates to the field of robot positioning technology, and in particular to a rust removal robot positioning and navigation method, device, storage medium and electronic equipment for steel structures. Background Art

[0002] In purely outdoor construction scenarios, the construction environment is mostly relatively open, and the corresponding construction paths will also change dynamically. The traditional magnetic stripe and magnetic tape guidance method requires the laying of guidance devices on the ground in advance, and after the laying is completed once, it is inconvenient to change the laying route later, which will lead to extremely high upgrade and maintenance costs in the later stage, and seriously affect production efficiency, and cannot meet the requirements of flexible construction on site. Therefore, the current working method of magnetic stripe and magnetic tape guided robots is not suitable for outdoor construction scenarios.

[0003] One of the biggest highlights of laser SLAM (Simultaneous Localization and Mapping) guidance technology is its strong ability to adapt to the environment. In an unknown environment, it can autonomously build maps through a series of algorithms without relying on other auxiliary equipment. Therefore, when the mobile robot needs to change its walking route, it can plan quickly.

[0004] However, due to the lack of feature information in open environments, the SLAM guidance method has low accuracy and cannot meet the navigation accuracy requirement of ±10mm. The GPS positioning accuracy error is large and cannot provide accurate positioning information for the mobile robot. The inertial guidance has cumulative errors and cannot meet the long-distance navigation requirements. Summary of the invention

[0005] The embodiments of the present application provide a rust removal robot positioning and navigation method, device, storage medium and electronic equipment for steel structures, which can provide accurate positioning information, are suitable for long-distance navigation requirements in outdoor working environments, improve production efficiency and are easy to use.

[0006] The embodiment of the present application provides a rust removal robot positioning and navigation method for steel structures, comprising: Constructing a global map based on the working area; wherein the working area includes a plurality of cylindrical reflective plates, and the surface of the steel structure workpiece in the working area is pasted with square reflective stickers; Obtaining scanning data of the cylindrical reflective plate and obtaining scanning data of the square reflective sticker; Determine the position and posture information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the position and posture information of the rust removal robot; Based on the position information of the plurality of square reflective stickers, straight line features are fitted to generate a plurality of navigation sites of the rust removal robot, and a navigation route is formed based on the navigation sites.

[0007] Furthermore, in the above-mentioned rust removal robot positioning and navigation method for steel structures, the step of obtaining the scanning data of the cylindrical reflector includes: Acquire a reflector data set by using a laser radar; wherein the reflector data set includes the reflector echo intensity, the reflector reflector incident angle information, and the distance between the laser radar and the cylindrical reflector; Anti-distortion processing is performed on the data in the reflector data set to obtain a scan data set of the reflector; wherein the scan data set of the reflector includes actual reflector echo intensity, reflector incident angle information, and a distance between an actual reflector scanning point and a scanning center; The actual reflector echo intensity is compared with a preset echo intensity threshold. If the actual reflector echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a cylindrical reflector. If the actual reflector echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

[0008] Furthermore, the above-mentioned rust removal robot positioning and navigation method for steel structures, wherein, after the step of comparing the actual reflector echo intensity with a preset echo intensity threshold, if the actual reflector echo intensity is greater than the preset echo intensity threshold, determining the corresponding scanning point as a cylindrical reflector, and if the actual reflector echo intensity is less than the preset echo intensity threshold, removing the corresponding scanning point, comprises: The distance between a target scanning point and an adjacent scanning point of the target scanning point is compared with a preset distance threshold. If the distance is less than twice the preset distance threshold, the target scanning point is determined to be a cylindrical reflector. If the distance is greater than twice the preset distance threshold, the target scanning point is removed.

[0009] Furthermore, in the above-mentioned rust removal robot positioning and navigation method for steel structures, the step of obtaining the scanning data of the square reflective sticker comprises: Acquire a reflective sticker dataset through a laser radar; wherein the reflective sticker dataset includes the reflective sticker echo intensity, the reflective sticker incident angle information, and the distance between the laser radar and the square reflective sticker; Anti-distortion processing is performed on the data in the reflective plate data set to obtain a scanned data set of a reflective tape; wherein the scanned data set of the reflective tape includes actual reflective tape echo intensity, reflective tape incident angle information, and an actual distance between a scan point of the reflective tape and a scan center; The actual reflective sticker echo intensity is compared with the preset echo intensity threshold. If the actual reflective sticker echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a square reflective sticker. If the actual reflective sticker echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

[0010] Furthermore, in the above-mentioned steel structure-oriented rust removal robot positioning and navigation method, the position and posture information of the square reflective sticker is determined based on the scanning data of the cylindrical reflective plate and the position and posture information of the rust removal robot, including: Determine the rate of angle change based on the scanning incident angle of the laser radar; The position and posture information of the square reflective tape is determined based on the angle change rate and the position and posture information of the rust removal robot.

[0011] Furthermore, in the above-mentioned rust removal robot positioning and navigation method for steel structures, the angle change rate is determined based on the scanning incident angle of the laser radar, including: The angle change rate is calculated by the first formula, which is:

[0012] in, The change of the echo angle between the steel structure workpiece and the square reflective sticker. and is the coordinate of the current laser point, and are the coordinates of the rust removal robot.

[0013] Furthermore, in the above-mentioned positioning and navigation method for the rust removal robot for steel structures, the step of fitting straight line features based on the pose information of the plurality of square reflective stickers to generate a plurality of navigation sites of the rust removal robot comprises: Set the distance impact factor D of the navigation site; A plurality of points on the straight line feature are extracted, and the plurality of points are respectively extended by a distance D in a direction away from the steel structure workpiece to generate a plurality of navigation sites of the rust removal robot.

[0014] The embodiment of the present application also provides a rust removal robot positioning and navigation device for steel structures, comprising: A construction module, used to construct a global map based on a working area; wherein the working area includes a plurality of cylindrical reflective plates, and a square reflective sticker is pasted on the surface of a steel structure workpiece in the working area; An acquisition module, used to acquire the scanning data of the cylindrical reflective plate and the scanning data of the square reflective tape; A determination module, used to determine the posture information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the posture information of the rust removal robot; The navigation module is used to fit straight line features based on the position information of the plurality of square reflective stickers, generate a plurality of navigation sites of the rust removal robot, and form a navigation route based on the navigation sites.

[0015] An embodiment of the present application also provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor to execute any of the above-mentioned rust removal robot positioning and navigation methods for steel structures.

[0016] An embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the processor is electrically connected to the memory, the memory is used to store instructions and data, and the processor is used for the steps in any of the above-mentioned rust removal robot positioning and navigation methods for steel structures.

[0017] The present application provides a positioning and navigation method, device, storage medium and electronic device for a rust removal robot for steel structures. The present application locates the position of a steel structure workpiece by setting a cylindrical reflector and a square reflective sticker, generates a navigation station and a navigation route of the rust removal robot based on the position of the steel structure workpiece, can provide accurate positioning information, is suitable for long-distance navigation requirements in outdoor working environments, improves production efficiency, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0019] Figure 1 A flow chart of a rust removal robot positioning and navigation method for steel structures provided in an embodiment of the present application.

[0020] Figure 2 A schematic diagram of the global positioning of the rust removal robot provided in an embodiment of the present application.

[0021] Figure 3 A schematic diagram of the ideal navigation path of the rust removal robot provided in an embodiment of the present application.

[0022] Figure 4 Schematic diagram of a cylindrical reflector scanned by a laser radar provided in an embodiment of the present application.

[0023] Figure 5 Schematic diagram of a laser radar scanning square reflective sticker provided in an embodiment of the present application.

[0024] Figure 6 The laser radar scanning point cloud image of the cylindrical reflector provided in the embodiment of the present application.

[0025] Figure 7 This is a point cloud image of a cylindrical reflector scanned by a laser radar after adding a distance influence factor provided in an embodiment of the present application.

[0026] Figure 8 A schematic structural diagram of a rust removal robot positioning and navigation device for steel structures provided in an embodiment of the present application.

[0027] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] 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 only 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 those skilled in the art without creative work are within the scope of protection of this application.

[0029] The embodiment of the present application provides a method, device, storage medium and electronic device for positioning and navigating a rust removal robot for steel structures. The embodiment of the present application provides a positioning and navigating device for a rust removal robot for steel structures, which can be integrated into an electronic device, which can be a terminal, a server and other devices, wherein the terminal can include a tablet computer, a laptop computer, a personal computer (PC), a micro processing box, or other devices.

[0030] See also Figure 1-Figure 3 , Figure 1 This is a flow chart of a rust removal robot positioning and navigation method for steel structures provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the global positioning of the rust removal robot provided in the embodiment of the present application. Figure 3 The schematic diagram of the ideal navigation path of the rust removal robot provided in the embodiment of the present application is applied to electronic equipment. The positioning and navigation method of the rust removal robot for steel structure includes the following steps: S1, constructing a global map based on the working area; wherein the working area includes a plurality of cylindrical reflective plates, and the surface of the steel structure workpiece in the working area is pasted with square reflective stickers.

[0031] Among them, multiple cylindrical reflectors are placed asymmetrically at intervals.

[0032] In open areas, the lidar performs global mapping based on circular reflectors, ensuring that at least three cylindrical reflectors are scanned simultaneously to build a global map.

[0033] S2, obtaining scanning data of the cylindrical reflector and obtaining scanning data of the square reflective sticker.

[0034] In one embodiment, obtaining scanning data of the cylindrical reflector in step S2 includes the following steps: S21, obtaining a reflector dataset through a laser radar; wherein the reflector dataset includes the reflector echo intensity, the reflector incident angle information, and the distance between the laser radar and the cylindrical reflector.

[0035] Specifically, the laser radar is a positioning system installed on the rust removal robot. Figure 4 A schematic diagram of a cylindrical reflector scanned by a laser radar according to an embodiment of the present application. Figure 5 Schematic diagram of a laser radar scanning square reflective sticker provided in an embodiment of the present application.

[0036] S22, performing anti-distortion processing on the data in the reflector data set to obtain a scan data set of the reflector; wherein the scan data set of the reflector includes actual reflector echo intensity, reflector incident angle information, and the distance between the actual reflector scanning point and the scanning center.

[0037] The calculation formula of echo strength is as follows:

[0038] in, is the laser radar transmission signal strength, is the system parameter, is the atmospheric influence factor, is the laser radar receiving aperture, is the bidirectional reflectivity distribution function, is the laser incident angle, is the incident azimuth, is the laser emission angle, in the laser radar = , is the backscattering azimuth, is the distance between the target and the LiDAR system.

[0039] S23, compare the actual reflector echo intensity with the preset echo intensity threshold. If the actual reflector echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a cylindrical reflector. If the actual reflector echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

[0040] Furthermore, the scanning data of the cylindrical reflector is filtered to eliminate the influence of non-continuous high-reflective objects on subsequent feature fitting.

[0041] Further, after step S23, the following steps are included: S24, compare the distance between the target scanning point and the adjacent scanning point of the target scanning point with a preset distance threshold. If the distance is less than twice the preset distance threshold, the target scanning point is determined to be a cylindrical reflector. If the distance is greater than twice the preset distance threshold, the target scanning point is removed.

[0042] Specifically, a distance influencing factor d is added to the cylindrical reflector fitting algorithm to determine whether the distance d between adjacent scanning points is greater than twice the distance threshold. If so, the scanning point is discarded. Figure 6 The laser radar scanning point cloud image of the cylindrical reflector provided in the embodiment of the present application is Figure 7 The laser radar scanned cylindrical reflector point cloud image after adding the distance influence factor provided in the embodiment of the present application increases the number of scanning points by increasing the distance influence factor, and increases the feature recognition area 𝑍(1) of the cylindrical reflector by the fitting algorithm, so that the fitting center pose information of the cylindrical reflector is more accurate.

[0043] set up For the reflector fitting position, is the fitting distance (polar diameter), is the fitting angle (polar angle), then .pass , we can get the reflector fitting angle, where for midpoint The polar angle, weight ,pass Available points The distance from the center of the reflector to the center of the laser radar, and then Find the average value of the distance between the points and determine d= If the value is less than twice the threshold, it will be discarded, and the fitting value of the reflector distance can be obtained. , from the above, we can get the fitting position of the reflector .

[0044] In one embodiment, obtaining the scanned data of the square reflective tape in step S2 includes the following steps: S25, obtaining a reflective sticker dataset through a laser radar; wherein the reflective sticker dataset includes the reflective sticker echo intensity, the reflective sticker incident angle information, and the distance between the laser radar and the square reflective sticker.

[0045] S26, performing anti-distortion processing on the data in the reflective plate data set to obtain a scanned data set of the reflective tape; wherein the scanned data set of the reflective tape includes actual reflective tape echo intensity, reflective tape incident angle information, and the distance between the actual scan point of the reflective tape and the scan center.

[0046] S27, compare the actual reflective sticker echo intensity with the preset echo intensity threshold. If the actual reflective sticker echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a square reflective sticker. If the actual reflective sticker echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

[0047] Furthermore, the scanning data of the cylindrical reflector is filtered to eliminate the influence of non-continuous high-reflective objects on subsequent feature fitting.

[0048] S3, determining the position information of the square reflective sticker based on the scanning data of the cylindrical reflective plate and the position information of the rust removal robot.

[0049] In one embodiment, step S3 includes the following steps: S31, determining the angle change rate based on the scanning incident angle of the laser radar.

[0050] The angle change rate is calculated by the first formula, which is:

[0051] in, The change of the echo angle between the steel structure workpiece and the square reflective sticker. and is the coordinate of the current laser point, and are the coordinates of the rust removal robot.

[0052] S32, determining the position and posture information of the square reflective sticker based on the angle change rate and the position and posture information of the rust removal robot.

[0053] S4, fitting straight line features based on the position information of multiple square reflective stickers, generating multiple navigation sites of the rust removal robot, and forming a navigation route based on the navigation sites.

[0054] In one embodiment, step S4 includes the following steps: S41, setting the distance influence factor D of the navigation site.

[0055] S42, extracting a plurality of points on the straight line feature, and extending the plurality of points by a distance D in a direction away from the steel structure workpiece, to generate a plurality of navigation sites of the rust removal robot.

[0056] For the last navigation station, it should be set at a distance D beyond the steel structure workpiece.

[0057] This application locates the position of the steel structure workpiece by setting a cylindrical reflector and a square reflective sticker, and generates the navigation site and navigation route of the rust removal robot based on the position of the steel structure workpiece, which can provide accurate positioning information, is suitable for the long-distance navigation requirements of the outdoor working environment, improves production efficiency, and is easy to use. In addition, the embodiment of this application adds a distance influence factor, so that the improved fitting algorithm can detect more scanning points, which greatly improves the operating efficiency of the algorithm for fitting the reflector posture information features.

[0058] According to the method described in the above embodiment, this embodiment will be further described from the perspective of a rust removal robot positioning and navigation device for steel structures. The rust removal robot positioning and navigation device for steel structures can be implemented as an independent entity or integrated in an electronic device. The electronic device can be a terminal, a server, and the like. The terminal can include a tablet computer, a laptop computer, a personal computer (PC), a micro processing box, or other devices.

[0059] See also Figure 8 , Figure 8 The rust removal robot positioning and navigation device for steel structures provided in an embodiment of the present application is specifically described, and is applied to electronic equipment. The rust removal robot positioning and navigation device for steel structures may include: A construction module is used to construct a global map based on the working area; wherein the working area includes a plurality of cylindrical reflective plates, and the surface of the steel structure workpiece in the working area is pasted with square reflective stickers; An acquisition module is used to acquire scanning data of a cylindrical reflector and scanning data of a square reflective sticker; A determination module, used to determine the position information of the square reflective sticker based on the scanning data of the cylindrical reflective plate and the position information of the rust removal robot; The navigation module is used to fit straight line features based on the position information of multiple square reflective stickers, generate multiple navigation sites of the rust removal robot, and form a navigation route based on the navigation sites.

[0060] During specific implementation, the above modules and / or units can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above modules and / or units can refer to the previous method embodiments. The specific beneficial effects that can be achieved can also refer to the beneficial effects in the previous method embodiments, which will not be repeated here.

[0061] In addition, the embodiment of the present application further provides an electronic device, which can be a computer, a tablet computer, etc. The electronic device can implement the steps in any embodiment of the rust removal robot positioning and navigation method for steel structures provided in the embodiment of the present application, and therefore can achieve the beneficial effects that can be achieved by any rust removal robot positioning and navigation method for steel structures provided in the embodiment of the present application, as detailed in the previous embodiment, which will not be repeated here.

[0062] Fig. 9 The specific structural block diagram of the electronic device provided in the embodiment of the present invention is shown, and the electronic device can be used to implement the rust removal robot positioning and navigation method for steel structure provided in the above embodiment. The electronic device 500 can be a terminal, a server or other equipment, wherein the terminal can include a tablet computer, a laptop computer, a personal computer (PC, Personal Computer), a micro processing box, or other equipment.

[0063] The RF circuit 510 is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other devices. The RF circuit 510 may include various existing circuit elements for performing these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, user identity module (SIM) cards, memories, etc. The RF circuit 510 can communicate with various networks such as the Internet, corporate intranets, wireless networks, or communicate with other devices through wireless networks. The above-mentioned wireless networks may include cellular telephone networks, wireless local area networks, or metropolitan area networks. The above-mentioned wireless networks may use various communication standards, protocols and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as Institute of Electrical and Electronics Engineers standards IEEE 802.11a, IEEE 802.11b, IEEE802.11g and / or IEEE802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging and short messages, and any other suitable communication protocols, even those that have not yet been developed.

[0064] The memory 520 can be used to store software programs and modules, such as the corresponding program instructions / modules in the above embodiments. The processor 580 executes various functional applications and data processing by running the software programs and modules stored in the memory 520, that is, realizing the functions of taking pictures with the front camera, processing the captured images, and switching the display color of the display content on the display screen. The memory 520 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 520 may further include a memory remotely arranged relative to the processor 580, and these remote memories may be connected to the electronic device 500 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0065] The input unit 530 may be used to receive input digital or character information, and generate a keyboard and a mouse related to user settings and function control. The display unit 540 may be used to display information input by the user or information provided to the user and various graphical user interfaces, which may be composed of graphics, text, icons, videos, and any combination thereof. The display unit 540 may include a display panel 541, which may be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like.

[0066] The audio circuit 560, the speaker 561, and the microphone 562 can provide an audio interface between the user and the electronic device 500. The audio circuit 560 can transmit the electrical signal converted from the received audio data to the speaker 561, which is converted into a sound signal for output; on the other hand, the microphone 562 converts the collected sound signal into an electrical signal, which is received by the audio circuit 560 and converted into audio data, and then the audio data is output to the processor 580 for processing, and then sent to another terminal through the RF circuit 510, or the audio data is output to the memory 520 for further processing. The audio circuit 560 may also include an earplug jack to provide communication between an external headset and the electronic device 500.

[0067] The electronic device 500 can help the user receive requests, send information, etc. through the transmission module 570 (such as a Wi-Fi module), which provides the user with wireless broadband Internet access. Although the transmission module 570 is shown in the figure, it can be understood that it is not a necessary component of the electronic device 500 and can be omitted as needed without changing the essence of the invention.

[0068] The processor 580 is the control center of the electronic device 500. It uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 520, and calling data stored in the memory 520, it executes various functions of the electronic device 500 and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 580 may include one or more processing cores; in some embodiments, the processor 580 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor 580.

[0069] The electronic device 500 also includes a power supply 590 (such as a battery) for supplying power to various components. In some embodiments, the power supply can be logically connected to the processor 580 through a power management system, so that the power management system can manage charging, discharging, and power consumption management. The power supply 590 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0070] Although not shown, the electronic device 500 also includes a camera (such as a front camera, a rear camera), a Bluetooth module, etc., which will not be described in detail here. Specifically in this embodiment, the display unit of the electronic device is a touch screen display, and the mobile terminal also includes a memory, and one or more programs, wherein one or more programs are stored in the memory, and are configured to be executed by one or more processors. One or more programs include instructions for performing the following operations: Constructing a global map based on the working area; wherein the working area includes a plurality of cylindrical reflective plates, and the surface of the steel structure workpiece in the working area is pasted with square reflective stickers; Obtaining scanning data of the cylindrical reflective plate and obtaining scanning data of the square reflective sticker; Determine the position and posture information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the position and posture information of the rust removal robot; Based on the position information of the plurality of square reflective stickers, straight line features are fitted to generate a plurality of navigation sites of the rust removal robot, and a navigation route is formed based on the navigation sites.

[0071] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0072] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present invention provides a storage medium, which stores a plurality of instructions, and the instructions can be loaded by a processor to execute the steps of any embodiment of the rust removal robot positioning and navigation method for steel structures provided in an embodiment of the present invention.

[0073] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0074] Since the instructions stored in the storage medium can execute the steps in any embodiment of the rust removal robot positioning and navigation method for steel structures provided in the embodiments of the present invention, the beneficial effects that can be achieved by any rust removal robot positioning and navigation method for steel structures provided in the embodiments of the present invention can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0075] The above is a detailed introduction to a rust removal robot positioning and navigation method, device, storage medium and electronic device for steel structures provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A rust removal robot positioning and navigation method for steel structures, characterized in that: The method comprises: Constructing a global map based on the working area; wherein the working area includes a plurality of cylindrical reflective plates, and the surface of the steel structure workpiece in the working area is pasted with square reflective stickers; Obtaining scanning data of the cylindrical reflective plate and obtaining scanning data of the square reflective sticker; Determine the position and posture information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the position and posture information of the rust removal robot; Based on the position information of the plurality of square reflective stickers, straight line features are fitted to generate a plurality of navigation sites of the rust removal robot, and a navigation route is formed based on the navigation sites.

2. The rust removal robot positioning and navigation method for steel structures according to claim 1 is characterized in that: The step of obtaining scanning data of the cylindrical reflector includes: Acquire a reflector data set by using a laser radar; wherein the reflector data set includes the reflector echo intensity, the reflector reflector incident angle information, and the distance between the laser radar and the cylindrical reflector; Anti-distortion processing is performed on the data in the reflector data set to obtain a scan data set of the reflector; wherein the scan data set of the reflector includes actual reflector echo intensity, reflector incident angle information, and a distance between an actual reflector scanning point and a scanning center; The actual reflector echo intensity is compared with a preset echo intensity threshold. If the actual reflector echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a cylindrical reflector. If the actual reflector echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

3. The rust removal robot positioning and navigation method for steel structures according to claim 2 is characterized in that: After the step of comparing the actual reflector echo intensity with a preset echo intensity threshold, if the actual reflector echo intensity is greater than the preset echo intensity threshold, determining the corresponding scanning point as a cylindrical reflector, and if the actual reflector echo intensity is less than the preset echo intensity threshold, removing the corresponding scanning point, the method includes: The distance between a target scanning point and an adjacent scanning point of the target scanning point is compared with a preset distance threshold. If the distance is less than twice the preset distance threshold, the target scanning point is determined to be a cylindrical reflector. If the distance is greater than twice the preset distance threshold, the target scanning point is removed.

4. The rust removal robot positioning and navigation method for steel structures according to claim 1, characterized in that: The step of obtaining the scanning data of the square reflective tape comprises: Acquire a reflective sticker dataset through a laser radar; wherein the reflective sticker dataset includes the reflective sticker echo intensity, the reflective sticker incident angle information, and the distance between the laser radar and the square reflective sticker; Anti-distortion processing is performed on the data in the reflective plate data set to obtain a scanned data set of a reflective tape; wherein the scanned data set of the reflective tape includes actual reflective tape echo intensity, reflective tape incident angle information, and an actual distance between a scan point of the reflective tape and a scan center; The actual reflective sticker echo intensity is compared with the preset echo intensity threshold. If the actual reflective sticker echo intensity is greater than the preset echo intensity threshold, the corresponding scanning point is determined as a square reflective sticker. If the actual reflective sticker echo intensity is less than the preset echo intensity threshold, the corresponding scanning point is removed.

5. The rust removal robot positioning and navigation method for steel structures according to claim 3 is characterized in that: The determining of the position information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the position information of the rust removal robot includes: Determine the rate of angle change based on the scanning incident angle of the laser radar; The position and posture information of the square reflective tape is determined based on the angle change rate and the position and posture information of the rust removal robot.

6. The rust removal robot positioning and navigation method for steel structures according to claim 5 is characterized in that: The method of determining the angle change rate based on the scanning incident angle of the laser radar comprises: The angle change rate is calculated by the first formula, which is: in, The change of the echo angle between the steel structure workpiece and the square reflective sticker. and is the coordinate of the current laser point, and are the coordinates of the rust removal robot.

7. The rust removal robot positioning and navigation method for steel structures according to claim 1, characterized in that: The step of fitting straight line features based on the position information of the plurality of square reflective stickers to generate a plurality of navigation sites of the rust removal robot comprises: Set the distance impact factor D of the navigation site; A plurality of points on the straight line feature are extracted, and the plurality of points are respectively extended by a distance D in a direction away from the steel structure workpiece to generate a plurality of navigation sites of the rust removal robot.

8. A rust removal robot positioning and navigation device for steel structures, characterized in that: include: A construction module, used to construct a global map based on a working area; wherein the working area includes a plurality of cylindrical reflective plates, and a square reflective sticker is pasted on the surface of a steel structure workpiece in the working area; An acquisition module, used to acquire the scanning data of the cylindrical reflective plate and the scanning data of the square reflective tape; A determination module, used to determine the posture information of the square reflective tape based on the scanning data of the cylindrical reflective plate and the posture information of the rust removal robot; The navigation module is used to fit straight line features based on the position information of the plurality of square reflective stickers, generate a plurality of navigation sites of the rust removal robot, and form a navigation route based on the navigation sites.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the rust removal robot positioning and navigation method for steel structures as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: It comprises a processor and a memory, the processor is electrically connected to the memory, the memory is used to store instructions and data, and the processor is used to execute the steps in the rust removal robot positioning and navigation method for steel structures as described in any one of claims 1 to 7.

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