Robot inspection route cross-coordinate system conversion and sharing method and system

Abstract

The embodiment of the invention provides a robot inspection route cross-coordinate system conversion and sharing method and system, and the method comprises the steps that a first inspection robot obtains a first coordinate of an initial position and a second coordinate of a current position collected by a positioning module of the first inspection robot, calculating a rotation matrix and a translation vector parameter of the robot coordinate system and a global coordinate system according to the first coordinate and the second coordinate, generating a conversion matrix according to the rotation matrix and the translation vector parameter, and converting the created first inspection route data based on the conversion matrix to obtain second inspection route data under the global coordinate system, and generating a route specification file based on the second inspection route data, and sending the route specification file to a second inspection robot according to a network protocol when an acquisition request sent by the second inspection robot is received, so that the second inspection robot generates a navigation inspection route based on the route specification file. According to the scheme, path sharing among different robots can be realized, and the autonomous navigation efficiency of the robot is remarkably improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of navigation, and in particular to a method and system for converting and sharing robot inspection routes across coordinate systems. Background Art

[0002] Traditional robot navigation inspection methods mainly rely on manual operation modes. Operation and maintenance personnel need to complete equipment status monitoring and environmental parameter collection through naked eye observation and handheld instrument measurement. They have rich subjective experience but low efficiency, inspection gaps, and prominent personal safety risks in high-risk scenarios. With the maturity of navigation and positioning technology, sensor technology and hierarchical control systems, robots gradually have the capabilities of autonomous movement, navigation paths, data collection and environmental adaptation, making them applicable to inspections in various environments.

[0003] In related technologies, inspection routes are usually created and navigated based on each robot's own scene coordinate system. However, as multiple robots work together in the same environment, each robot can only rely on its own coordinate system for navigation and path planning. Since the robot's coordinate system is locally defined and may be inconsistent, there is no unified coordinate reference, resulting in the inability to share or reuse inspection paths between different robots, causing technical problems such as low navigation efficiency. Summary of the invention

[0004] The present application provides a method and system for converting and sharing robot inspection routes across coordinate systems, which solves the problem in the prior art that there is no unified coordinate reference between robots and the inspection paths between different robots cannot be shared or reused, resulting in low navigation efficiency. The inspection routes of the robots can be converted to a global coordinate system and the coordinate references between robots can be unified to achieve path sharing between different robots, thereby significantly improving the autonomous navigation efficiency of the robots.

[0005] In a first aspect, the present application provides a method for converting and sharing robot inspection routes across coordinate systems, including: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and the translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters; The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data; When the first inspection robot receives the file acquisition request sent by the second inspection robot, the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0006] Optionally, after generating the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameter, the method further includes: The first inspection robot obtains environmental information when collecting the first coordinate and the second coordinate, and calculates a horizontal translation compensation value and a vertical translation compensation value of the translation vector parameter according to the environmental information; The first inspection robot compensates for the translation vector parameters in the transformation matrix according to the horizontal translation compensation value and the vertical translation compensation value to obtain a corrected transformation matrix.

[0007] Optionally, the environmental information includes one or more environmental parameter values, and the calculating the horizontal translation compensation value and the vertical translation compensation value of the translation vector parameter according to the environmental information includes: Compare one or more of the environmental parameter values ​​with the corresponding standard values ​​respectively, and when there is an environmental parameter value greater than the corresponding standard value, calculate the difference between the environmental parameter value and the corresponding standard value; The difference is multiplied by the corresponding preset regression coefficient to obtain a distance error, the distance error is multiplied by the horizontal precision factor to obtain a horizontal translation compensation value, and the distance error is multiplied by the vertical precision factor to obtain a vertical translation compensation value.

[0008] Optionally, generating a route specification file based on the second inspection route data includes: A corresponding verification code is generated according to the second inspection route data and a preset verification code algorithm, and the second inspection route data and the verification code are input into a preset blank file to obtain a route specification file.

[0009] Optionally, the file acquisition request includes the inspection task to be executed and the identity code, and before sending the route specification file to the second inspection robot according to the preset network communication protocol, it also includes: Compare the inspection task to be executed with the inspection task corresponding to the route specification file, and detect whether the identity code has file sharing authority; Accordingly, sending the route specification file to the second inspection robot according to a preset network communication protocol includes: When the inspection task to be executed is successfully compared and the identity code has the file sharing permission, the route specification file is sent to the second inspection robot according to a preset network communication protocol.

[0010] Optionally, after sending the route specification file to the second inspection robot according to the preset network communication protocol, the method further includes: When the first inspection robot navigates and moves according to the created first inspection route data and detects an obstacle, it replans a local path to avoid the obstacle and determines the coordinates of the starting point and the end point of the local path in the global coordinate system; The first inspection robot generates route compensation information based on the transformation matrix, the local path, the starting point, and the coordinates of the end point in the global coordinate system, and sends the route compensation information to the second inspection robot that receives the route specification file.

[0011] Optionally, the first inspection robot generates route compensation information based on the transformation matrix, the local path, the starting point, and the coordinates of the end point in the global coordinate system, including: The first inspection robot converts the coordinate data of the local path into standard local path data in the global coordinate system based on the conversion matrix, and determines the coordinates corresponding to the starting point and the end point of the local path in the global coordinate system as the starting compensation point and the ending compensation point respectively; The first inspection robot combines the standard local path data, the starting compensation point and the ending compensation point to obtain route compensation information.

[0012] In a second aspect, the present application also provides a robot inspection route cross-coordinate system conversion and sharing device, comprising: An acquisition module is used to acquire the first coordinate of the initial position collected by the self-positioning module and the second coordinate of the current position; a transformation matrix generation module, used to calculate the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and to generate the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters; A coordinate system conversion module, used for converting the created first inspection route data based on the conversion matrix to obtain second inspection route data in the global coordinate system; A file generating module, used for generating a route specification file based on the second inspection route data; The file sharing module is used to send the route specification file to the second inspection robot according to a preset network communication protocol when receiving a file acquisition request sent by the second inspection robot, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0013] In a third aspect, the present application also provides a robot inspection route cross-coordinate system conversion and sharing device, the device comprising: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the robot inspection route cross-coordinate system conversion and sharing method described in the present application.

[0014] In a fourth aspect, the present application also provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the robot inspection route cross-coordinate system conversion and sharing method described in the present application.

[0015] In the present application, the first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, generates the conversion matrix of the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters, the first inspection robot converts the first inspection route data created based on the conversion matrix to obtain the second inspection route data in the global coordinate system, generates a route specification file based on the second inspection route data, and the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol when receiving the file acquisition request sent by the second inspection robot, so that the second inspection robot generates a navigation inspection route based on the route specification file. This solution solves the problem of low navigation efficiency caused by the lack of a unified coordinate reference between robots and the inability to share or reuse inspection paths between different robots in the prior art. It can convert the inspection route of the robot to the global coordinate system and unify the coordinate reference between robots to achieve path sharing between different robots, thereby significantly improving the autonomous navigation efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a method for converting and sharing robot inspection routes across coordinate systems provided in an embodiment of the present application; Figure 2 A schematic diagram of an initial position and a current position of a first inspection robot provided in an embodiment of the present application; Figure 3A flowchart of a method for converting and sharing a robot inspection route across coordinate systems including a conversion matrix correction method provided in an embodiment of the present application; Figure 4 A flowchart of a method for converting and sharing robot inspection routes across coordinate systems including a method for generating a route specification file provided in an embodiment of the present application; Figure 5 A flowchart of a method for converting and sharing robot inspection routes across coordinate systems including a route specification file sending method provided in an embodiment of the present application; Figure 6 A flowchart of a method for converting and sharing a robot inspection route across coordinate systems including a method for generating route compensation information provided in an embodiment of the present application; Figure 7 A schematic diagram of a first inspection robot replanning a local path to avoid obstacles provided in an embodiment of the present application; Figure 8 A module structure diagram of a cross-coordinate system conversion and sharing device for a robot inspection route provided in an embodiment of the present application; Figure 9 A schematic diagram of the structure of a cross-coordinate system conversion and sharing device for a robot inspection route provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the embodiments of the present application, rather than to limit the embodiments of the present application. It should also be noted that, for ease of description, only parts related to the embodiments of the present application are shown in the accompanying drawings, rather than all structures.

[0018] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character "or" generally indicates that the objects associated before and after are in an "or" relationship.

[0019] The embodiment of the present application provides a method for converting and sharing robot inspection routes across coordinate systems, which can be applied to multi-robot collaborative inspection scenarios such as power inspection, pipeline inspection, and river inspection. The embodiment of the present application provides a method for converting and sharing robot inspection routes across coordinate systems, and the execution subject of each step is a robot.

[0020] Figure 1 A flowchart of a method for converting and sharing a robot inspection route across coordinate systems provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, specifically including: Step S101: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters.

[0021] Among them, the first inspection robot can be the first robot to perform inspection tasks in the inspection area. The first inspection robot can use its own positioning module to collect the first coordinate of the initial position and the second coordinate of the current position. The self-positioning module is a positioning module that collects the coordinates of the position of the inspection robot. The installation position of the self-positioning module is consistent with the position of the robot mapped to the coordinate origin, which can provide high-precision real-time positioning information and can solve the path accuracy problems caused by sensor errors and environmental complexity in traditional methods, such as RTK positioning modules. The first coordinate is the coordinate of the initial position of the first inspection robot in the robot coordinate system. The second coordinate is the coordinate of the current position of the first inspection robot in the robot coordinate system. The initial position and the current position are two different position points. For example, such as Figure 2 As shown, Figure 2 A schematic diagram of the initial position and current position of a first inspection robot provided in an embodiment of the present application, where 01 represents the initial position of the first inspection robot, and 02 represents the current position of the second inspection robot.

[0022] The first coordinate and the second coordinate can be used to calculate the rotation matrix and the translation vector parameter between the robot coordinate system and the global coordinate system. The robot coordinate system can be a coordinate system located on the base of the first inspection robot, which is used to describe the movement and position of the first inspection robot relative to its own base. The global coordinate system is a spatial reference system defined globally, which is used to determine the three-dimensional coordinates of any location on the earth. For example, WGS-84 (World Geodetic System 1984) is the standard coordinate system used by the Global Positioning System (GPS). The rotation matrix is ​​a 3×3 orthogonal matrix used to represent the rotation transformation of an object in three-dimensional space. The translation vector parameter is a three-dimensional vector that represents the position movement component of the object in space. The rotation matrix and the translation vector parameter can be used to generate the transformation matrix between the robot coordinate system and the global coordinate system. The transformation matrix is ​​a mathematical tool used to describe the transformation from one coordinate system to another. In one embodiment, after obtaining the first coordinate of the initial position collected by its own positioning module and the second coordinate of the current position, the first inspection robot determines the third coordinate corresponding to the first coordinate in the global coordinate system and the fourth coordinate of the second coordinate in the global coordinate system, and substitutes the first coordinate, the second coordinate, the third coordinate and the fourth coordinate into the corresponding positions of the rotation matrix calculation formula and the translation vector parameter calculation formula for calculation, and combines the calculated rotation matrix and translation vector parameters to obtain the conversion matrix between the robot coordinate system and the global coordinate system. Determining the conversion matrix between the robot coordinate system and the global coordinate system by two coordinate points can simplify the calibration process and maintain accuracy.

[0023] Step S102: The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data.

[0024] The first inspection route data may be a set of coordinate points on the inspection route created by the first inspection robot in the robot coordinate system based on the inspection task. The first inspection robot may use the conversion matrix to transform the first inspection route data to obtain the second inspection route data in the global coordinate system. The second inspection route data is the inspection route data corresponding to the first inspection route data in the global coordinate system. Exemplarily, the first inspection route data created by the first inspection robot is (2, 3, 1), (5, 3, 1), (10, 3, 1), (10, 6, 1), (10, 15, 1), and the first inspection robot transforms the first inspection route data created based on the conversion matrix to obtain the second inspection route data in the global coordinate system as (5, 2, 0), (8, 2, 0), (14, 2, 0), (14, 8, 0), (14, 16, 0), wherein each coordinate point is an example, and the specific coordinate value is subject to the actual conversion result. The second inspection route may be used to generate a route specification file. The route specification file is a unified specification file based on the global coordinate system. The route specification file defines the route file of the robot in the global coordinate system, which can ensure that the multi-robot system can share and reuse paths and accurately perform tasks. In one embodiment, a route specification file can be generated by storing the second inspection route data in a preset blank file to obtain a route specification file. The type and format of the preset blank file can be adaptively set according to actual needs.

[0025] Step S103: When the first inspection robot receives the file acquisition request sent by the second inspection robot, it sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot generates a navigation inspection route based on the route specification file.

[0026] Among them, the file acquisition request is used to represent the request for obtaining the route specification file sent by the second inspection robot to the first inspection robot. After receiving the file acquisition request, the first inspection robot sends the route specification file to the second inspection robot through the preset network communication protocol. The second inspection robot may be any other inspection robot in the inspection area except the first inspection robot. The preset network communication protocol is a pre-set network communication protocol for transmitting route specification files, such as ROS, MQTT and other network protocols. In one embodiment, when the first inspection robot receives the file acquisition request sent by the second inspection robot, it verifies the identity code in the file acquisition request. If the verification is successful, the route specification file is sent to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0027] In one embodiment, after receiving the route specification file sent by the first inspection robot, the second inspection robot parses the route specification file to obtain second inspection route data, performs cross-coordinate system transformation on the second inspection route data according to the calculated transformation matrix between its own coordinate system and the global coordinate system to obtain inspection route data in its own coordinate system, and generates a navigation inspection route based on the inspection route data.

[0028] As can be seen from the above, the first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, generates the conversion matrix of the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters, and the first inspection robot converts the first inspection route data created based on the conversion matrix to obtain the second inspection route data in the global coordinate system, generates a route specification file based on the second inspection route data, and the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol when receiving the file acquisition request sent by the second inspection robot, so that the second inspection robot generates a navigation inspection route based on the route specification file. This solution solves the problem of low navigation efficiency caused by the lack of a unified coordinate reference between robots and the inability to share or reuse inspection paths between different robots in the prior art. It can convert the inspection route of the robot to the global coordinate system and unify the coordinate reference between robots to achieve path sharing between different robots, thereby significantly improving the autonomous navigation efficiency of the robot.

[0029] Figure 3 A flowchart of a method for converting and sharing a robot inspection route across coordinate systems including a conversion matrix correction method provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, specifically including: Step S201: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters.

[0030] Step S202: The first inspection robot obtains the environmental information when collecting the first coordinate and the second coordinate, calculates the horizontal translation compensation value and the vertical translation compensation value of the translation vector parameter according to the environmental information, and compensates the translation vector parameter in the transformation matrix according to the horizontal translation compensation value and the vertical translation compensation value to obtain a corrected transformation matrix.

[0031] Among them, the environmental information is used to characterize the relevant information of the environment around the first inspection robot when collecting the first coordinate and the second coordinate, such as environmental information such as temperature information and humidity information. The horizontal translation compensation value and the vertical translation compensation value of the translation vector parameter can be calculated using the environmental information. The horizontal translation compensation value is the compensation value in the horizontal direction of the translation vector parameter, which can be the compensation value in the x-axis direction and the y-axis direction. The vertical translation compensation value is the compensation value in the vertical direction of the translation vector parameter, which can be the compensation value in the z-axis direction. The horizontal translation compensation value and the vertical translation compensation value are used to compensate the translation vector parameter in the conversion matrix to obtain a corrected conversion matrix. Exemplarily, the translation vector parameter in the conversion matrix is ​​(10, 5, 2), and the compensation value (horizontal translation compensation value) in the x-axis direction and the y-axis direction is calculated to be +2, and the compensation value (vertical translation compensation value) in the z-axis direction is +1, then the compensated translation vector parameter is (12, 7, 3), and the translation vector parameter in the conversion matrix is ​​updated to the compensated translation vector parameter to obtain the corrected conversion matrix.

[0032] Optionally, the environmental information includes one or more environmental parameter values. A compensation value calculation method may be to compare one or more environmental parameter values ​​with corresponding standard values ​​respectively. When there is an environmental parameter value greater than the corresponding standard value, the difference between the environmental parameter value and the corresponding standard value is calculated, the difference is multiplied by the corresponding preset regression coefficient to obtain the distance error, the distance error is multiplied by the horizontal precision factor to obtain the horizontal translation compensation value, and the distance error is multiplied by the vertical precision factor to obtain the vertical translation compensation value. Among them, the environmental parameter value is the numerical value of the environmental parameter, such as the temperature value, humidity value, pressure value and other environmental parameter values. Abnormal environmental information will cause satellite signal delay and affect positioning accuracy. The preset regression coefficient is a pre-set regression coefficient, which can indicate the influence of the environmental parameter value on the distance error. For example, the greater the difference between the environmental parameter value and the corresponding standard value, the greater the distance error. The distance error is used to characterize the error in the positioning distance caused by the satellite signal delay. The horizontal precision factor is a factor that reflects the error magnification of the horizontal direction (x / y). The vertical precision factor is a factor that reflects the error magnification of the vertical direction (z). Exemplarily, the environmental information includes a temperature value and a humidity value, the temperature value is 50°, the humidity value is 25%, the temperature standard value is 40°, the humidity standard value is 80%, the temperature value is greater than the temperature standard value, the difference between the two is 10°, the preset regression coefficient corresponding to the temperature value is 0.3, then the distance error is 3cm, the horizontal precision factor is 1.2, and the vertical precision factor is 0.9, then the horizontal translation compensation value is 3.6cm, and the vertical translation compensation value is 2.7cm. In another embodiment, the environmental information includes one or more environmental parameter values, and a compensation value calculation method can be to compare one or more environmental parameter values ​​with the corresponding standard values ​​respectively, and when there are multiple environmental parameter values ​​greater than the corresponding standard values, calculate the difference between each environmental parameter value and the corresponding standard value, multiply each difference by the corresponding preset regression coefficient to obtain the corresponding distance error, calculate the sum of each distance error to obtain the total distance error, multiply the total distance error by the horizontal precision factor to obtain the horizontal translation compensation value, and multiply the total distance error by the vertical precision factor to obtain the vertical translation compensation value.

[0033] Step S203: The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data.

[0034] Step S204: When the first inspection robot receives the file acquisition request sent by the second inspection robot, it sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot generates a navigation inspection route based on the route specification file.

[0035] From the above, it can be seen that the first inspection robot obtains the environmental information when collecting the first coordinate and the second coordinate, calculates the horizontal translation compensation value and the vertical translation compensation value of the translation vector parameter according to the environmental information, and compensates the translation vector parameter in the transformation matrix according to the horizontal translation compensation value and the vertical translation compensation value to obtain the corrected transformation matrix. This solution corrects the transformation matrix through environmental information, which can improve the accuracy of the transformation matrix and make the coordinate system transformation result more accurate and reasonable.

[0036] Figure 4 A flowchart of a method for converting and sharing robot inspection routes across coordinate systems including a route specification file generation method provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, specifically including: Step S301: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters.

[0037] Step S302: The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, generates a corresponding verification code according to the second inspection route data and a preset verification code algorithm, and inputs the second inspection route data and the verification code into a preset blank file to obtain a route specification file.

[0038] Among them, the preset check code algorithm is a preset algorithm for generating a check code for the second inspection route data, such as parity check, cyclic redundancy check, hash function and other algorithms. The check code is used to detect or correct errors generated during data transmission or storage to ensure the integrity and correctness of the data. The route specification file can be obtained by inputting the second inspection route data and the check code into a preset blank file. The object that receives the route specification file will calculate the second inspection route data in the route specification file with the same check code algorithm to obtain the check code to be compared, and match the check code to be compared with the check code in the route specification file to verify the integrity of the second inspection route data. Exemplarily, the second inspection route data is input into the preset check code algorithm to obtain a check code of 0462, and the second inspection data and the check code 0462 are input into the preset blank file to obtain the route specification file.

[0039] Step S303: When the first inspection robot receives the file acquisition request sent by the second inspection robot, it sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot generates a navigation inspection route based on the route specification file.

[0040] As can be seen from the above, after the first inspection robot transforms the created first inspection route data based on the conversion matrix to obtain the second inspection route data in the global coordinate system, it generates a corresponding check code according to the second inspection route data and the preset check code algorithm, and inputs the second inspection route data and the check code into the preset blank file to obtain the route specification file. This solution can ensure the integrity and correctness of the inspection route data by generating a check code for the inspection route data in the global coordinate system and generating a route specification file through the check code and the inspection route data.

[0041] Figure 5 A flowchart of a method for converting and sharing a robot inspection route across coordinate systems including a route specification file sending method provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, specifically including: Step S401: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters.

[0042] Step S402: The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data.

[0043] Step S403: When the first inspection robot receives the file acquisition request sent by the second inspection robot, it compares the inspection task to be executed with the inspection task corresponding to the route specification file, and detects whether the identity code has file sharing permissions. When the inspection task to be executed is successfully compared and the identity code has file sharing permissions, the route specification file is sent to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0044] The file acquisition request includes the inspection task to be executed and the identity code. The inspection task to be executed is the inspection task to be executed by the second inspection robot. The identity code can be the unique identity of the second inspection robot. By comparing the inspection task to be executed with the inspection task corresponding to the route specification file and verifying the authority of the identity code, it can be determined whether to send the route specification file to the second inspection robot. The inspection task is the inspection task based on which the first inspection robot creates the first inspection route. Exemplarily, the first inspection robot has received a file acquisition request sent by the second inspection robot, the task to be inspected in the file acquisition request is to inspect the shortest path from point a to point b, the identity code is 011384, the inspection task corresponding to the route specification file is to inspect the shortest path from point a to point b, and the identity code combinations with file sharing permissions stored by the first inspection robot are 012743, 011384, 011562, and 012647. The inspection task to be executed of the second inspection robot is successfully compared with the inspection task corresponding to the route specification file, and the identity code of the second inspection robot has file sharing permissions, then the route specification file is sent to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0045] From the above, it can be seen that when the first inspection robot receives the file acquisition request sent by the second inspection robot, it compares the inspection task to be executed with the inspection task corresponding to the route specification file, and detects whether the identity code has file sharing permissions. If the inspection task to be executed is successfully compared and the identity code has file sharing permissions, the route specification file is sent to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file. This solution determines whether to send the route specification file to the second inspection robot through permission verification, which can ensure the security of the route specification file and prevent it from being stolen by outsiders.

[0046] Figure 6 A flowchart of a method for converting and sharing a robot inspection route across coordinate systems including a method for generating route compensation information is provided in an embodiment of the present application, such as Figure 6 As shown, specifically including: Step S501: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters.

[0047] Step S502: The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data.

[0048] Step S503: When the first inspection robot receives the file acquisition request sent by the second inspection robot, it sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot generates a navigation inspection route based on the route specification file.

[0049] Step S504: When the first inspection robot navigates and moves according to the created first inspection route data and detects an obstacle, it replans the local path to avoid the obstacle and determines the corresponding coordinates of the starting point and the end point of the local path in the global coordinate system.

[0050] The local path is used to represent the path that the first inspection robot takes when avoiding obstacles detected when performing navigation movement according to the first inspection route data created. Figure 7 As shown, Figure 7 A schematic diagram of a first inspection robot replanning a local path to avoid obstacles provided in an embodiment of the present application, 11 is an inspection route corresponding to first inspection route data created by the first inspection robot, 12 is the position of the first inspection robot when it detects an obstacle, 13 is the obstacle, and 14 is the local path replanned by the first inspection robot.

[0051] Step S505: The first inspection robot generates route compensation information based on the transformation matrix, the local path, the starting point and the corresponding coordinates of the end point in the global coordinate system, and sends the route compensation information to the second inspection robot that has received the route specification file.

[0052] Among them, the path compensation information is used to characterize the relevant information for compensating the second inspection route data in the route specification file received by the second inspection robot. Optionally, a method for generating route compensation information can be that the first inspection robot converts the coordinate data of the local path into standard local path data in the global coordinate system based on the conversion matrix, determines the corresponding coordinates of the starting point and the end point of the local path in the global coordinate system as the starting compensation point and the ending compensation point, respectively, and combines the standard local path data, the starting compensation point and the ending compensation point to obtain route compensation information. Among them, the starting compensation point can be the starting coordinate point for compensating the second inspection route data in the route specification file received by the second inspection robot, and the ending compensation point can be the ending coordinate point for compensating the second inspection route data in the route specification file received by the second inspection robot. In one embodiment, when the second inspection robot receives the route compensation information, it updates the coordinate data between the starting compensation point and the ending compensation point in the second inspection route data received in the route specification file to the standard local path data. Exemplarily, the standard local path data obtained by conversion in the global coordinate system are coordinate point a, coordinate point b, coordinate point c, coordinate point d and coordinate point e, the starting compensation point is coordinate point m, the ending compensation point is coordinate point n, and the second inspection route data in the route file received by the second inspection robot are coordinate point o, coordinate point k, coordinate point m, coordinate point z, coordinate point p, coordinate point y, coordinate point x, coordinate point j, coordinate point n and coordinate point l. When the second inspection robot receives the route compensation information, it replaces the part of "coordinate point z, coordinate point p, coordinate point y, coordinate point x, coordinate point j" in the second inspection route data with "coordinate point a, coordinate point b, coordinate point c, coordinate point d and coordinate point e".

[0053] In another embodiment, a method for generating route compensation information may be that the first inspection robot converts the coordinate data of the local path into standard local path data in the global coordinate system based on the transformation matrix, determines the corresponding coordinates of the starting point and the end point of the local path in the global coordinate system as the starting compensation point and the ending compensation point respectively, combines the standard local path data, the starting compensation point and the ending compensation point, and encrypts the combined data to obtain the route compensation information.

[0054] From the above, it can be seen that after the first inspection robot sends the route specification file to the second inspection robot through the preset network communication protocol, when the first inspection route data is navigated and detected according to the created first inspection route data, the local path is replanned to avoid the obstacle, and the starting point and the end point of the local path are determined. The corresponding coordinates in the global coordinate system generate route compensation information based on the transformation matrix, the local path, the starting point and the end point in the global coordinate system. The route compensation information is sent to the second inspection robot that receives the route specification file. In this solution, when the sending robot encounters an obstacle during navigation movement, the route compensation information is generated and sent to the receiving robot, which can compensate the inspection route of the receiving robot in advance, avoid repeated path planning, and reduce computing power.

[0055] Figure 8 This is a module structure diagram of a robot inspection route cross-coordinate system conversion and sharing device provided in an embodiment of the present application. The system is used to execute a robot inspection route cross-coordinate system conversion and sharing method provided in the above embodiment, and has the corresponding functional modules and beneficial effects of the execution method. Figure 8 As shown, the system specifically includes: An acquisition module 101 is used to acquire a first coordinate of an initial position and a second coordinate of a current position collected by a self-positioning module; A transformation matrix generating module 102, configured to calculate a rotation matrix and a translation vector parameter between a robot coordinate system and a global coordinate system according to the first coordinate and the second coordinate, and to generate a transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameter; A coordinate system conversion module 103, used for converting the created first inspection route data based on the conversion matrix to obtain second inspection route data in the global coordinate system; A file generating module 104, configured to generate a route specification file based on the second inspection route data; The file sharing module 105 is used to send the route specification file to the second inspection robot according to a preset network communication protocol when receiving a file acquisition request sent by the second inspection robot, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0056] It can be seen from the above scheme that the first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, generates the conversion matrix of the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters, and the first inspection robot converts the first inspection route data created based on the conversion matrix to obtain the second inspection route data in the global coordinate system, generates a route specification file based on the second inspection route data, and the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol when receiving the file acquisition request sent by the second inspection robot, so that the second inspection robot generates a navigation inspection route based on the route specification file. This scheme solves the problem of low navigation efficiency caused by the lack of a unified coordinate reference between robots and the inability to share or reuse inspection paths between different robots in the prior art. It can convert the inspection route of the robot to the global coordinate system and unify the coordinate reference between robots to achieve path sharing between different robots, thereby significantly improving the autonomous navigation efficiency of the robot.

[0057] In a possible embodiment, a conversion matrix correction module is further included, which is specifically used to: The first inspection robot obtains environmental information when collecting the first coordinate and the second coordinate, and calculates a horizontal translation compensation value and a vertical translation compensation value of the translation vector parameter according to the environmental information; The first inspection robot compensates for the translation vector parameters in the transformation matrix according to the horizontal translation compensation value and the vertical translation compensation value to obtain a corrected transformation matrix.

[0058] In a possible embodiment, a conversion matrix correction module is also included, which is further used to: Compare one or more of the environmental parameter values ​​with the corresponding standard values ​​respectively, and when there is an environmental parameter value greater than the corresponding standard value, calculate the difference between the environmental parameter value and the corresponding standard value; The difference is multiplied by the corresponding preset regression coefficient to obtain a distance error, the distance error is multiplied by the horizontal precision factor to obtain a horizontal translation compensation value, and the distance error is multiplied by the vertical precision factor to obtain a vertical translation compensation value.

[0059] In a possible embodiment, the file generation module 104 is specifically used to: A corresponding verification code is generated according to the second inspection route data and a preset verification code algorithm, and the second inspection route data and the verification code are input into a preset blank file to obtain a route specification file.

[0060] In a possible embodiment, the file sharing module 105 is specifically used for: Compare the inspection task to be executed with the inspection task corresponding to the route specification file, and detect whether the identity code has file sharing authority; When the inspection task to be executed is successfully compared and the identity code has the file sharing permission, the route specification file is sent to the second inspection robot according to a preset network communication protocol.

[0061] In a possible embodiment, a route compensation module is further included, which is specifically used to: When the first inspection robot navigates and moves according to the created first inspection route data and detects an obstacle, it replans a local path to avoid the obstacle and determines the coordinates of the starting point and the end point of the local path in the global coordinate system; The first inspection robot generates route compensation information based on the transformation matrix, the local path, the starting point, and the coordinates of the end point in the global coordinate system, and sends the route compensation information to the second inspection robot that receives the route specification file.

[0062] In a possible embodiment, the route compensation module is further used to: The first inspection robot converts the coordinate data of the local path into standard local path data in the global coordinate system based on the conversion matrix, and determines the coordinates corresponding to the starting point and the end point of the local path in the global coordinate system as the starting compensation point and the ending compensation point respectively; The first inspection robot combines the standard local path data, the starting compensation point and the ending compensation point to obtain route compensation information.

[0063] Figure 9 A schematic diagram of a robot inspection route cross-coordinate system conversion and sharing device provided in an embodiment of the present application, such as Figure 9 As shown, the device includes a processor 201, a memory 202, an input device 203 and an output device 204; the number of processors 201 in the device can be one or more. Figure 9 A processor 201 is taken as an example; the processor 201, memory 202, input device 203 and output device 204 in the device can be connected by a bus or other means. Figure 9The example of connecting through a bus is taken. The memory 202, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions or modules corresponding to a method for converting and sharing a robot inspection route across coordinate systems in an embodiment of the present application. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 202, that is, realizes the above-mentioned method for converting and sharing a robot inspection route across coordinate systems. The input device 203 can be used to receive input digital or character information, and to generate key signal input related to user settings and function controls of the device. The output device 204 may include display devices such as display screens.

[0064] The embodiment of the present application further provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute a method for converting and sharing a robot inspection route across coordinate systems when executed by a computer processor, the method comprising: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and the translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters; The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data; When the first inspection robot receives the file acquisition request sent by the second inspection robot, the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

[0065] It is worth noting that in the embodiment of the above-mentioned robot inspection route cross-coordinate system conversion and sharing method system, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

[0066] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made to the present application without departing from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for converting and sharing robot inspection routes across coordinate systems, characterized in that: The method comprises: The first inspection robot obtains the first coordinate of the initial position and the second coordinate of the current position collected by its own positioning module, calculates the rotation matrix and the translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and generates the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters; The first inspection robot transforms the created first inspection route data based on the transformation matrix to obtain second inspection route data in the global coordinate system, and generates a route specification file based on the second inspection route data; When the first inspection robot receives the file acquisition request sent by the second inspection robot, the first inspection robot sends the route specification file to the second inspection robot according to the preset network communication protocol, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

2. The method for converting and sharing robot inspection routes across coordinate systems according to claim 1, characterized in that: After generating the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameter, the method further includes: The first inspection robot obtains environmental information when collecting the first coordinate and the second coordinate, and calculates a horizontal translation compensation value and a vertical translation compensation value of the translation vector parameter according to the environmental information; The first inspection robot compensates for the translation vector parameters in the transformation matrix according to the horizontal translation compensation value and the vertical translation compensation value to obtain a corrected transformation matrix.

3. The method for converting and sharing robot inspection routes across coordinate systems according to claim 2, characterized in that: The environmental information includes one or more environmental parameter values, and the calculating the horizontal translation compensation value and the vertical translation compensation value of the translation vector parameter according to the environmental information includes: Compare one or more of the environmental parameter values ​​with the corresponding standard values ​​respectively, and when there is an environmental parameter value greater than the corresponding standard value, calculate the difference between the environmental parameter value and the corresponding standard value; The difference is multiplied by the corresponding preset regression coefficient to obtain a distance error, the distance error is multiplied by the horizontal precision factor to obtain a horizontal translation compensation value, and the distance error is multiplied by the vertical precision factor to obtain a vertical translation compensation value.

4. The method for converting and sharing robot inspection routes across coordinate systems according to any one of claims 1 to 3, characterized in that: The generating a route specification file based on the second inspection route data comprises: A corresponding verification code is generated according to the second inspection route data and a preset verification code algorithm, and the second inspection route data and the verification code are input into a preset blank file to obtain a route specification file.

5. The method for converting and sharing robot inspection routes across coordinate systems according to any one of claims 1 to 3, characterized in that: The file acquisition request includes the inspection task to be executed and the identity code, and before sending the route specification file to the second inspection robot according to the preset network communication protocol, it also includes: Compare the inspection task to be executed with the inspection task corresponding to the route specification file, and detect whether the identity code has file sharing authority; Accordingly, sending the route specification file to the second inspection robot according to a preset network communication protocol includes: When the inspection task to be executed is successfully compared and the identity code has the file sharing permission, the route specification file is sent to the second inspection robot according to a preset network communication protocol.

6. The method for converting and sharing robot inspection routes across coordinate systems according to any one of claims 1 to 3, characterized in that: After sending the route specification file to the second inspection robot according to the preset network communication protocol, the method further includes: When the first inspection robot navigates and moves according to the created first inspection route data and detects an obstacle, it replans a local path to avoid the obstacle and determines the coordinates of the starting point and the end point of the local path in the global coordinate system; The first inspection robot generates route compensation information based on the transformation matrix, the local path, the starting point, and the coordinates of the end point in the global coordinate system, and sends the route compensation information to the second inspection robot that receives the route specification file.

7. The method for converting and sharing robot inspection routes across coordinate systems according to claim 6, characterized in that: The first inspection robot generates route compensation information based on the conversion matrix, the local path, the starting point, and the coordinates of the end point in the global coordinate system, including: The first inspection robot converts the coordinate data of the local path into standard local path data in the global coordinate system based on the conversion matrix, and determines the coordinates corresponding to the starting point and the end point of the local path in the global coordinate system as the starting compensation point and the ending compensation point respectively; The first inspection robot combines the standard local path data, the starting compensation point and the ending compensation point to obtain route compensation information.

8. A robot inspection route cross-coordinate system conversion and sharing system, characterized in that: include: An acquisition module is used to acquire the first coordinate of the initial position collected by the self-positioning module and the second coordinate of the current position; a transformation matrix generation module, used to calculate the rotation matrix and translation vector parameters of the robot coordinate system and the global coordinate system according to the first coordinate and the second coordinate, and to generate the transformation matrix between the robot coordinate system and the global coordinate system according to the rotation matrix and the translation vector parameters; A coordinate system conversion module, used for converting the created first inspection route data based on the conversion matrix to obtain second inspection route data in the global coordinate system; A file generating module, used for generating a route specification file based on the second inspection route data; The file sharing module is used to send the route specification file to the second inspection robot according to a preset network communication protocol when receiving a file acquisition request sent by the second inspection robot, so that the second inspection robot can generate a navigation inspection route based on the route specification file.

9. A robot inspection route cross-coordinate system conversion and sharing device, characterized in that: The device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the robot inspection route cross-coordinate system conversion and sharing method as described in any one of claims 1-7.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute the cross-coordinate system conversion and sharing method of the robot inspection route as described in any one of claims 1 to 7 when executed by a computer processor.

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