Unmanned delivery robot system and method based on Beidou and 3D laser slam technology

Abstract

The invention relates to an unmanned delivery robot system and method based on the Beidou and 3D laser slam technology, the system comprises a robot (1), a Beidou positioning subsystem (2), a Beidou navigation satellite (3), a laser slam subsystem (4), an intelligent inspection platform (5) and a centralized control platform (6), and the method comprises the steps that autonomous mapping is achieved through the Beidou and 3D laser slam fusion technology; a routing inspection route and a point location routing inspection task are established by using a map, AI artificial intelligence is matched to realize automatic positioning of a routing inspection point location target, and a GIS map is displayed in a display platform (centralized control platform). Compared with the prior art, the method has the advantages that the real-time position of the robot is combined with the map, and people, vehicles and objects are displayed on the same platform. The implementation and deployment difficulty of the inspection robot can be simplified, the time is shortened, the robot is more convenient to use, and robot inspection is better popularized.

Description

Technical Field

[0001] The present invention relates to the technical field of robot patrol inspection, and in particular to an unmanned delivery robot system and method based on Beidou and 3D laser slam technologies. Background Art

[0002] Currently, during the project implementation process of robots, after deploying servers and other content, it is necessary to manually remote control the robot to scan and build maps. This process requires professional engineers to perform map scanning and building, and it takes a long time to perform the map building operation. For indoor scenes with small areas, it is relatively fast. Once encountering outdoor scenes with large areas, etc., the map scanning and building work takes a long time, and sometimes repeated operations are required to achieve a good map building effect. More and more intelligent patrol inspection robots adopt positioning methods based on the Beidou navigation system. For example, CN114488241A discloses an intelligent patrol inspection robot positioning method based on the Beidou navigation system. By using sensors such as a Beidou module, an encoder, and an inertial measurement unit, based on an extended Kalman filter fusion algorithm and combined with a Monte Carlo positioning algorithm, it can give the pose solution of the intelligent patrol inspection robot without cumulative error, high reliability, and stability in real time. This not only enables the intelligent patrol inspection robot to complete precise autonomous navigation in an open environment, but also ensures the positioning accuracy requirements of the intelligent patrol inspection robot in some occluded environments. However, it cannot solve the problems of high difficulty and long time consumption in the implementation and deployment of patrol inspection robots.

[0003] In view of the problems of high difficulty and long time consumption in the implementation and deployment of patrol inspection robots, a solution for automatic map building of patrol inspection robots is needed to more conveniently use patrol inspection robots and better promote robot patrol inspection. Summary of the Invention

[0004] The purpose of the present invention is to provide an unmanned delivery robot system and method based on Beidou and 3D laser slam technologies, which adopt Beidou and 3D laser slam fusion technology to realize autonomous map building, use the map to establish patrol routes and point patrol tasks, and cooperate with AI artificial intelligence to automatically locate patrol point targets, display the GIS map in the display platform (centralized control platform), combine the real-time position of the robot with the map, and realize the display of people, vehicles, and objects on the same platform.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The first object of the present invention is to provide an unmanned delivery robot system based on Beidou and 3D laser slam technologies, and the unmanned delivery robot system includes:

[0007] A robot, a Beidou positioning subsystem, Beidou navigation satellites, a laser slam subsystem, an intelligent patrol inspection platform, and a centralized control platform;

[0008] The robot is set in the space of the map to be built; the mapping data of any sub-region is collected by the robot in the sub-region;

[0009] The Beidou positioning subsystem is used to roughly edit a running route on the map so that the robot runs at the map scanning speed;

[0010] The Beidou navigation satellite is used to obtain the real-time position information of the robot in real time and transmit the real-time position information to the Beidou positioning subsystem;

[0011] The laser slam subsystem is used for map scanning, constructing a high-precision map that conforms to the environmental characteristics, and estimating its own position at the same time. The laser slam subsystem is combined with the Beidou positioning subsystem to realize the establishment of the robot's 3D map;

[0012] The intelligent inspection platform is used to establish an inspection route and point inspection tasks by using the map, and the intelligent inspection platform is connected to the laser slam subsystem;

[0013] The centralized control platform is used to remotely display the robot, and the centralized control platform is connected to the intelligent inspection platform.

[0014] Further, the robot is an inspection robot.

[0015] Further, the robot integrates the Beidou positioning subsystem and the laser slam subsystem.

[0016] Further, the laser slam subsystem includes a lidar sensor;

[0017] The laser slam subsystem estimates the position of the robot and constructs a high-precision map of the environment, and combines the Beidou positioning subsystem and the Beidou navigation satellite for positioning and navigation.

[0018] Further, the Beidou positioning subsystem and the Beidou navigation satellite are communicatively connected;

[0019] The Beidou positioning subsystem and the laser slam subsystem are communicatively connected;

[0020] The intelligent inspection platform is communicatively connected to the laser slam subsystem;

[0021] The centralized control platform is communicatively connected to the intelligent inspection platform.

[0022] Further, the centralized control platform includes multiple sub-platforms, and the multiple sub-platforms are set in different regions and communicatively connected.

[0023] The second object of the present invention is to provide a mapping method for an unmanned delivery robot system adopting the described Beidou and 3D laser slam technology. The mapping method includes the following steps:

[0024] S1. The robot runs, and the Beidou rough navigation technology of the Beidou navigation satellite and the Beidou positioning subsystem is integrated with the 3D laser slam technology of the laser slam subsystem to achieve autonomous mapping.

[0025] S2. After the mapping is completed, a point laser cloud map will be formed, and the inspection route and the point inspection task will be established by using the map.

[0026] S3. The map is displayed on the centralized control platform, and the real-time position of the robot is combined with the map to realize the display of people, vehicles, and objects on the same platform.

[0027] Further, in step S2, after establishing the inspection route and the point inspection task by using the map, the inspection content is defined by artificial intelligence to automatically locate the inspection point target in the inspection route.

[0028] Further, step S1 specifically includes the following process:

[0029] Using the Beidou navigation satellite and the Beidou positioning subsystem, a rough running route is edited on the map, and the robot runs at the map scanning speed. During the running process, the laser slam subsystem is started and starts to scan the map. During the running process, the map scanning by the laser slam subsystem and the navigation by the Beidou navigation satellite and the Beidou positioning subsystem start simultaneously. When the navigation ends, the 3D map of the robot is also established simultaneously.

[0030] Further, the map is a GIS map, and the real-time position of the robot is combined with the map.

[0031] Further, the method includes the following steps:

[0032] The robot body integrates Beidou rough navigation and 3D laser slam technology to achieve autonomous mapping. Using the Beidou positioning system, a rough running route is edited on the map, and the robot runs at the map scanning speed. During the running process, the laser slam is started and starts to scan the map. During the running process, the lidar map scanning starts simultaneously. When the navigation ends, the 3D map of the robot is also established simultaneously. Check the 3D map situation in the background and confirm completion. Establish the inspection route and the point inspection task by using the map. Subsequently, the inspection content can be defined by AI artificial intelligence to automatically locate the inspection point target. Used in combination with the platform, the GIS map is displayed on the display platform, and the real-time position of the robot is combined with the map to realize the display of people, vehicles, and objects on the same platform. Using this technology, the inspection robots of enterprises or groups across regions can be remotely viewed.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. The present invention provides an unmanned delivery robot system and method based on Beidou and 3D laser slam technologies. It uses the Beidou and 3D laser slam fusion technology to achieve autonomous mapping, uses the map to establish inspection routes and point inspection tasks, and combines with AI artificial intelligence to automatically locate inspection point targets. It displays the GIS map on the display platform (centralized control platform), combines the real-time position of the robot with the map, and realizes the display of people, vehicles, and objects on the same platform. It can simplify the implementation and deployment difficulty of inspection robots and shorten the time, make it more convenient to use robots, and better promote robot inspection.

[0035] 2. The present invention provides an unmanned delivery robot system and method based on Beidou and 3D laser slam technologies. The centralized control platform includes multiple sub-platforms, which are set in different regions and communicate with each other, obtaining an enterprise-level and group-level centralized control platform across regions, which can realize cross-regional management of enterprises and cross-regional management of groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic flow chart of the mapping method of the unmanned delivery robot based on Beidou and 3D laser slam technologies in the embodiments of the present invention.

[0037] Figure 2 It is a schematic structural diagram of the unmanned delivery robot system based on Beidou and 3D laser slam technologies in the embodiments of the present invention.

[0038] In the figure:

[0039] 1. Robot, 2. Beidou positioning subsystem, 3. Beidou navigation satellite, 4. Laser slam subsystem, 5. Intelligent inspection platform, 6. Centralized control platform. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and gives detailed implementation manners and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments.

[0041] In the following embodiments or examples, if there is no special description of functional components or structures, it means that they are all conventional components or conventional structures used in the art to achieve corresponding functions.

[0042] Embodiment

[0043] As Figure 2As shown in the figure, this embodiment provides an unmanned delivery robot system based on Beidou and 3D laser slam technology. The unmanned delivery robot system includes: robot 1, Beidou positioning subsystem 2, Beidou navigation satellite 3, laser slam subsystem 4, intelligent inspection platform 5, and centralized control platform 6. The robot 1 is set in the space to be mapped. The mapping data of any sub-region is collected by the robot 1 in the sub-region. The Beidou positioning subsystem 2 is used to roughly edit a running route on the map so that the robot 1 runs at the map scanning speed. The Beidou navigation satellite 3 is used to obtain the real-time position information of the robot 1 in real time and transmit the real-time position information to the Beidou positioning subsystem 2. The laser slam subsystem 4 is used to scan the map, construct a high-precision map that conforms to the environmental characteristics, and estimate its own position at the same time. The laser slam subsystem 4 is combined with the Beidou positioning subsystem 2 to realize the establishment of the 3D map of the robot. The intelligent inspection platform 5 is used to establish an inspection route and point inspection tasks by using the map. The intelligent inspection platform 5 is connected to the laser slam subsystem 4. The centralized control platform 6 is used to remotely display the robot 1. The centralized control platform 6 is connected to the intelligent inspection platform 5.

[0044] The robot 1 is an inspection robot.

[0045] The robot 1 integrates the Beidou positioning subsystem 2 and the laser slam subsystem 4.

[0046] The laser slam subsystem 4 includes a lidar sensor, preferably a multi-line lidar, and the slam algorithm is based on the lidar sensor.

[0047] The laser slam subsystem 4 estimates the position of the robot 1 and constructs a high-precision map of the environment, and combines with the Beidou positioning subsystem 2 and the Beidou navigation satellite 3 for positioning and navigation.

[0048] The Beidou positioning subsystem 2 and the Beidou navigation satellite 3 are communicatively connected.

[0049] The Beidou positioning subsystem 2 and the laser slam subsystem 4 are communicatively connected.

[0050] The intelligent inspection platform 5 and the laser slam subsystem 4 are communicatively connected.

[0051] The centralized control platform 6 and the intelligent inspection platform 5 are communicatively connected.

[0052] The centralized control platform 6 includes multiple sub-platforms, which are set in different regions and communicatively connected.

[0053] The communication connection is a wired connection or a wireless connection.

[0054] The intelligent inspection platform 5 provides algorithm services, uses a map to establish inspection routes and point inspection tasks, specifically including algorithms for path optimization, 3D laser SLAM navigation algorithms, Beidou-assisted positioning algorithms, and inspection task automatic planning algorithms to ensure that the inspection efficiency is maximized as much as possible.

[0055] As Figure 1 shown, this embodiment further provides a mapping method for an unmanned delivery robot system using the above-mentioned Beidou and 3D laser slam technology. The mapping method includes the following steps:

[0056] S1. The robot 1 runs, and the Beidou rough navigation technology of the Beidou navigation satellite 3 and the Beidou positioning subsystem 2 is fused with the 3D laser slam technology of the laser slam subsystem 4 to achieve autonomous mapping. The specific process includes the following:

[0057] Using the Beidou navigation satellite 3 and the Beidou positioning subsystem 2, roughly edit a running route on the map, let the robot 1 run at the map scanning speed. During the running process, the laser slam subsystem 4 is started and begins to scan the map. During the running process, the map scanning of the laser slam subsystem 4 and the navigation of the Beidou navigation satellite 3 and the Beidou positioning subsystem 2 start simultaneously. When the navigation ends, the 3D map of the robot is also established simultaneously;

[0058] S2. After the mapping is completed, a point cloud map will be formed. Use the map to establish inspection routes and point inspection tasks. After using the map to establish inspection routes and point inspection tasks, define the inspection content through AI artificial intelligence to automatically locate the inspection point targets in the inspection route. For example, use the yolo algorithm to identify droplets on valves and pipelines, and use convolutional neural networks (CNNs) and Yolov5 to identify flange crystallization and liquid accumulation, etc., to achieve the fully autonomous inspection function.

[0059] S3. Display the map in the centralized control platform 6, combine the real-time position of the robot with the map, and realize the display of people, vehicles, and objects on the same platform.

[0060] In step S1, the positioning information fed back by the Beidou navigation satellite 3 is used to estimate the initial position of the slam algorithm of the laser slam subsystem 4, and the time information fed back by the Beidou navigation satellite 3 is used as the time synchronization reference for the slam algorithm of the laser slam subsystem 4. The combination of the two can reduce the positioning error, improve the accuracy of the inspection map, have high reliability, and further improve the efficiency when running simultaneously.

[0061] The map is a GIS map, and the real-time position of the robot 1 is combined with the map.

[0062] The above description of the embodiments is provided to enable those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the above embodiments, and all improvements and modifications made by those skilled in the art without departing from the scope of the present invention according to the disclosure of the present invention should be within the protection scope of the present invention.

Claims

1. An unmanned delivery robot system based on Beidou and 3D laser slam technology, characterized in that, The unmanned delivery robot system includes: A robot (1), a Beidou positioning subsystem (2), Beidou navigation satellites (3), a laser slam subsystem (4), an intelligent inspection platform (5), and a centralized control platform (6); The robot (1) is set in the space to be mapped; the mapping data of any sub-region is collected by the robot (1) in the sub-region; The Beidou positioning subsystem (2) is used to roughly edit a running route on the map so that the robot (1) runs at the map scanning speed; The Beidou navigation satellites (3) are used to obtain the real-time position information of the robot (1) in real time and transmit the real-time position information to the Beidou positioning subsystem (2); The laser slam subsystem (4) is used for map scanning, constructing a high-precision map that conforms to the environmental characteristics, and estimating its own position at the same time. The laser slam subsystem (4) is combined with the Beidou positioning subsystem (2) to realize the establishment of the robot's 3D map; The intelligent inspection platform (5) is used to establish inspection routes and point inspection tasks by using the map, and the intelligent inspection platform (5) is connected to the laser slam subsystem (4); The centralized control platform (6) is used to remotely display the robot (1), and the centralized control platform (6) is connected to the intelligent inspection platform (5).

2. The unmanned delivery robot system based on Beidou and 3D laser slam technology according to claim 1, characterized in that, The robot (1) is an inspection robot.

3. The unmanned delivery robot system based on Beidou and 3D laser slam technology according to claim 1, characterized in that, The robot (1) integrates the Beidou positioning subsystem (2) and the laser slam subsystem (4).

4. The unmanned delivery robot system based on Beidou and 3D laser slam technology according to claim 1, characterized in that, The laser slam subsystem (4) includes a lidar sensor; The laser slam subsystem (4) estimates the position of the robot (1) and constructs a high-precision map of the environment, and combines the Beidou positioning subsystem (2) and the Beidou navigation satellites (3) for positioning and navigation.

5. The unmanned delivery robot system based on Beidou and 3D laser slam technology according to claim 1, characterized in that, The Beidou positioning subsystem (2) and the Beidou navigation satellites (3) are communicatively connected; The Beidou positioning subsystem (2) and the laser slam subsystem (4) are communicatively connected; The intelligent inspection platform (5) is communicatively connected to the laser slam subsystem (4); The centralized control platform (6) is communicatively connected to the intelligent inspection platform (5).

6. The unmanned delivery robot system based on Beidou and 3D laser slam technology according to claim 1, characterized in that, The centralized control platform (6) includes multiple sub-platforms, and the multiple sub-platforms are set in different regions and communicatively connected.

7. A mapping method for an unmanned delivery robot system using the Beidou and 3D laser slam technology as described in any one of claims 1-6, characterized in that, The mapping method includes the following steps: S1. The robot (1) runs, and the Beidou rough navigation technology of the Beidou navigation satellites (3) and the Beidou positioning subsystem (2) is integrated with the 3D laser slam technology of the laser slam subsystem (4) to realize autonomous mapping; S2. After the mapping is completed, a point cloud map will be formed, and inspection routes and point inspection tasks will be established by using the map; S3. The map is displayed on the centralized control platform (6), and the real-time position of the robot is combined with the map to realize the display of people, vehicles, and objects on the same platform.

8. The mapping method according to claim 7, wherein, In step S2, after establishing the inspection route and point inspection tasks by using the map, the inspection content is defined by artificial intelligence to automatically locate the inspection point targets in the inspection route.

9. The mapping method according to claim 7, wherein Step S1 specifically includes the following process: Using the Beidou navigation satellite (3) and the Beidou positioning subsystem (2), roughly edit a running route on the map, and let the robot (1) run at the map scanning speed. During the running process, the laser slam subsystem (4) is activated and starts scanning the map. During the running process, the map scanning by the laser slam subsystem (4) and the navigation by the Beidou navigation satellite (3) and the Beidou positioning subsystem (2) start simultaneously. When the navigation ends, the 3D map of the robot is also established simultaneously.

10. The mapping method according to claim 7, characterized in that, The map is a GIS map, which combines the real-time position of the robot (1) with the map.

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