Positioning method and positioning equipment of operation and maintenance robot

Abstract

The invention provides a positioning method and positioning equipment of an operation and maintenance robot, and the method comprises the steps: obtaining an angle deviation between the operation and maintenance robot and a target operation object based on a distance measurement sensor of the operation and maintenance robot under the condition that the operation and maintenance robot travels to a target location, and obtaining a positioning result of the operation and maintenance robot based on the angle deviation; the longitudinal deviation between the operation and maintenance robot and the target operation object is obtained through the distance measuring sensor, the transverse deviation between the operation and maintenance robot and the target operation object is obtained through a visual system of the operation and maintenance robot based on the longitudinal deviation, and the operation and maintenance robot is controlled to move based on the transverse deviation so that the operation and maintenance robot can be aligned with the target operation object. According to the technical scheme, accurate alignment of the operation and maintenance robot and the target operation object is achieved, and then the operation and maintenance efficiency of the operation and maintenance robot is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a positioning method and positioning device for an operation and maintenance robot. Background Technology

[0002] With the rapid development of the server industry, the operation and maintenance scenario of plugging and unplugging servers in server racks is becoming increasingly common. To improve the efficiency of this operation, automation solutions are being explored, namely, using vehicles equipped with server maintenance robots to realize the automatic plugging and unplugging of servers in the rack. Among the available vehicles, the Automatic Guided Vehicle (AGV) is one of the commonly used choices.

[0003] In scenarios where AGVs equipped with maintenance robots are used to automatically plug and unplug servers in server racks, the required precision of the interface between the server and the rack is extremely high. This necessitates that AGVs have more accurate positioning. Therefore, how to effectively improve the positioning accuracy of AGVs in server maintenance scenarios has become an urgent problem to be solved in this field. Summary of the Invention

[0004] This application provides a positioning method and positioning device for an operation and maintenance robot, which can improve the positioning accuracy of the operation and maintenance robot and thus improve operation and maintenance efficiency.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions: In a first aspect, embodiments of this application provide a positioning method for an operation and maintenance robot. The method includes: when the operation and maintenance robot travels to a target location, obtaining the angular deviation between the operation and maintenance robot and the target operation object based on the ranging sensor of the operation and maintenance robot; obtaining the longitudinal deviation between the operation and maintenance robot and the target operation object based on the angular deviation using the ranging sensor; obtaining the lateral deviation between the operation and maintenance robot and the target operation object based on the longitudinal deviation using the vision system of the operation and maintenance robot; and controlling the movement of the operation and maintenance robot based on the lateral deviation to align the operation and maintenance robot with the target operation object.

[0006] Based on this solution, once the maintenance robot reaches the target location, its ranging sensor acquires the angular deviation between the robot and the target object. Based on this angular deviation, the ranging sensor then acquires the longitudinal deviation between the robot and the target object. Based on this longitudinal deviation, the robot's vision system acquires the lateral deviation. Finally, the robot's movement is controlled based on this lateral deviation to align it with the target object. By controlling the robot's movement step-by-step according to the sequence of angular, longitudinal, and lateral deviations, the positioning accuracy of the maintenance robot is improved, enabling precise alignment with the target object and reducing operational errors. This ultimately enhances the efficiency and effectiveness of the maintenance robot's operations.

[0007] In another possible implementation, the method of obtaining the angular deviation between the maintenance robot and the target operation object based on the ranging sensor of the maintenance robot includes: detecting multiple first distances between the maintenance robot and the target operation object by using multiple ranging sensors of the maintenance robot, and determining the angular deviation between the maintenance robot and the target operation object based on the multiple first distances and the second distances between the multiple ranging sensors.

[0008] Based on this solution, by using the first distance measured by multiple ranging sensors and the second distance between the ranging sensors, the angular deviation between the maintenance robot and the target object can be accurately calculated, which can provide a foundation for the accuracy of subsequent positioning.

[0009] In another possible implementation, the longitudinal deviation between the maintenance robot and the target object is obtained by means of the ranging sensor based on the aforementioned angular deviation, including: when the aforementioned angular deviation is less than or equal to a preset angular deviation, multiple third distances between the maintenance robot and the target object are detected by the multiple ranging sensors respectively, and the longitudinal deviation between the maintenance robot and the target object is determined based on the multiple third distances.

[0010] Based on this solution, under the premise that the angle deviation meets the preset requirements, that is, when the angle deviation is less than or equal to the preset angle deviation, the longitudinal deviation between the maintenance robot and the target object is determined by the third distance detected by multiple ranging sensors. This ensures that the longitudinal deviation calculation is based on a precise angle, improves the longitudinal positioning accuracy, and provides reliable data support for the maintenance robot to accurately approach or operate the target object in the future.

[0011] In another possible implementation, the longitudinal deviation between the maintenance robot and the target object is obtained based on the aforementioned angle deviation and via the aforementioned ranging sensor, including: when the aforementioned angle deviation is greater than a preset angle deviation, controlling the maintenance robot to rotate based on the aforementioned angle deviation; after the maintenance robot rotates, detecting the angle deviation between the maintenance robot and the target object again, until the angle deviation between the maintenance robot and the target object is less than or equal to the preset angle deviation; and obtaining the longitudinal deviation between the maintenance robot and the target object via the aforementioned ranging sensor.

[0012] Based on this solution, when the angular deviation is greater than the preset angular deviation, the operation and maintenance robot is rotated based on the angular deviation and the angular deviation is repeatedly detected until it meets the requirements. Then the longitudinal deviation is obtained. This ensures that the acquisition of the longitudinal deviation is based on the precise alignment of the robot with the target object, effectively avoiding the interference of the angular deviation on the longitudinal positioning accuracy, and providing reliable position data to ensure the accurate execution of operations by the operation and maintenance robot in the future.

[0013] In another possible implementation, the acquisition of the lateral deviation between the maintenance robot and the target object based on the longitudinal deviation using the vision system of the maintenance robot includes: when the longitudinal deviation is within a preset distance range, acquiring a first image corresponding to a visual positioning feature plate set on the target object using the vision system of the maintenance robot; wherein the first image includes a black background and multiple white markers on the visual positioning feature plate, identifying the multiple white markers in the first image, and determining the lateral deviation between the maintenance robot and the target object based on the position information and reference position of the multiple white markers.

[0014] Based on this solution, when the aforementioned longitudinal deviation is within a preset distance range, the visual positioning feature plate image containing a black background and multiple white markers is acquired by the vision system of the maintenance robot. The white markers are identified and their position information is combined with the reference position to determine the lateral deviation. The high-contrast markers can be used to achieve accurate identification of the lateral deviation, and the lateral positioning accuracy is further guaranteed based on the premise of appropriate longitudinal position. This provides key data support for the final accurate alignment of the maintenance robot and the target operation object.

[0015] In another possible implementation, the acquisition of the lateral deviation between the maintenance robot and the target object through the vision system of the maintenance robot based on the longitudinal deviation includes: controlling the robot to move based on the longitudinal deviation and the preset distance range when the longitudinal deviation exceeds a preset distance range; after the maintenance robot moves, detecting the longitudinal deviation between the maintenance robot and the target object again until the longitudinal deviation between the maintenance robot and the target object is within the preset distance range, and acquiring the lateral deviation between the maintenance robot and the target object through the vision system of the maintenance robot.

[0016] Based on this solution, when the longitudinal deviation exceeds the preset distance range, the operation and maintenance robot is controlled to move based on the longitudinal deviation and the preset distance range, and the longitudinal deviation is repeatedly detected until it meets the requirements. Then, the lateral deviation is obtained through the vision system. This ensures that the acquisition of the lateral deviation is based on the appropriate longitudinal position of the robot and the target object, avoiding interference of the longitudinal deviation on the lateral positioning accuracy, and providing reliable lateral position data support for the final accurate alignment of the two.

[0017] In another possible implementation, determining the lateral deviation between the maintenance robot and the target object based on the location information of the multiple white markers and the reference position includes: determining the location information of the target point based on the location information of the multiple white markers; and determining the lateral deviation based on the difference between the location information of the target point and the reference position.

[0018] Based on this scheme, the location information of the target point is determined by the location information of the multiple marker points; the lateral deviation is determined by the difference between the location information of the target point and the reference position; thus, the accuracy of the lateral deviation calculation can be improved, thereby optimizing the adjustment efficiency of the maintenance robot.

[0019] In another possible implementation, the method further includes: when the target deviation between the maintenance robot and the target operation object does not meet a preset condition, controlling the movement of the maintenance robot based on the target deviation; wherein the target deviation includes at least one of the angle deviation, the longitudinal deviation, and the lateral deviation; after the maintenance robot moves, the target deviation between the maintenance robot and the target operation object is detected again until the target deviation between the maintenance robot and the target operation object meets the preset condition, and the alignment of the maintenance robot and the target operation object is determined.

[0020] When the target deviation (including at least one of angular deviation, longitudinal deviation, and lateral deviation) between the maintenance robot and the target object does not meet the preset conditions, the solution controls the robot to move based on the target deviation and repeatedly detects the target deviation until it meets the requirements, and finally determines that the two are aligned. It can continuously correct multi-dimensional deviations through closed-loop feedback to ensure that the robot and the target object achieve high-precision alignment, providing reliable position guarantee for the subsequent accurate execution of maintenance operations.

[0021] Secondly, embodiments of this application provide a positioning device for an operation and maintenance robot. The device includes: an angle deviation acquisition module, used to acquire the angle deviation between the operation and maintenance robot and a target object based on the robot's ranging sensor when the robot travels to a target location; a longitudinal deviation acquisition module, used to acquire the longitudinal deviation between the robot and the target object based on the angle deviation using the ranging sensor; a lateral deviation acquisition module, used to acquire the lateral deviation between the robot and the target object based on the longitudinal deviation using the robot's vision system; and a movement module, used to control the movement of the robot based on the lateral deviation to align the robot with the target object.

[0022] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program for executing the positioning method for the maintenance robot provided in the first aspect above.

[0023] Fourthly, this application also provides a positioning device, including: one or more processors; and a memory configured to store one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method for the maintenance robot as described in any of the first aspects above.

[0024] Fifthly, embodiments of this application provide a computer program product that, when instructions in the computer program product are executed by a processor, performs the positioning method for the maintenance robot provided in the first aspect above. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of an operation and maintenance scenario provided in an embodiment of this application.

[0026] Figure 2 A flowchart illustrating a positioning method for an operation and maintenance robot provided in this application embodiment.

[0027] Figure 3 This is a schematic diagram of a map navigation route provided in an embodiment of this application.

[0028] Figure 4 This is a schematic diagram of an angle deviation provided for an embodiment of this application.

[0029] Figure 5 This is a schematic diagram of longitudinal deviation provided for an embodiment of this application.

[0030] Figure 6 This is a schematic diagram of lateral deviation provided for an embodiment of this application.

[0031] Figure 7 This is a schematic diagram of a visual positioning feature plate provided in an embodiment of this application.

[0032] Figure 8 A flowchart illustrating another positioning method for an operation and maintenance robot provided in this application embodiment.

[0033] Figure 9 This is a schematic diagram of a positioning device for an operation and maintenance robot provided in an embodiment of this application.

[0034] Figure 10 This is a schematic diagram of a positioning device for an operation and maintenance robot provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. To facilitate a clear description of the technical solutions of the embodiments of this application, the use of terms such as "first," "second," etc., in the embodiments of this application is merely for illustration and to distinguish the objects being described. There is no particular order between them, nor does it indicate a specific limitation on the number of devices in the embodiments of this application, and they cannot constitute any limitation on the embodiments of this application.

[0036] To address the issue of inaccurate alignment between maintenance robots and target objects, the positioning method for maintenance robots provided in this application involves, after the maintenance robot has reached the target location, acquiring the angular deviation between the maintenance robot and the target object based on the robot's ranging sensor. Based on the angular deviation, the longitudinal deviation between the maintenance robot and the target object is acquired using the ranging sensor. Then, based on the longitudinal deviation, the lateral deviation between the maintenance robot and the target object is acquired using the maintenance robot's vision system. Finally, the movement of the maintenance robot is controlled based on the lateral deviation to align it with the target object. By continuously adjusting the position of the maintenance robot through calculating the angular, longitudinal, and lateral deviations, and controlling the alignment of the maintenance robot with the target object step by step, the positioning accuracy of the maintenance robot is improved, enabling precise alignment between the maintenance robot and the target object, thereby improving maintenance efficiency and effectiveness.

[0037] Figure 1 This is a schematic diagram of an operation and maintenance scenario provided in an embodiment of this application. For example... Figure 1As shown, the scenario includes the target operation object 100 and the maintenance robot 200.

[0038] The target operation object 100 can be a rack for storing computing devices, where the computing devices can be servers. A visual positioning feature plate 110 is provided on the target operation object 100 to assist the maintenance robot in alignment.

[0039] The maintenance robot 200 can be an Automated Guided Vehicle (AGV), with steering wheels mounted at its four corners for movement. The maintenance robot 200 may be equipped with an operating component 230 for operating the computing devices in the target object 100, such as performing plug-and-play operations. The maintenance robot 200 may also be equipped with a vision system 210, which is used to acquire images of a visual positioning feature plate 110 set on the target object 100. The vision system 210 may include a camera, such as an industrial camera.

[0040] For example, the height difference between the visual positioning feature plate 110 on the target operation object 100 and the vision system 210 on the maintenance robot 200 is within a preset difference range, so that the vision system 210 can capture an image including the visual positioning feature plate 110, thereby reducing the image acquisition error of the maintenance robot. In some examples, the maintenance robot 200 may also be equipped with a lifting component. By raising and lowering the lifting component, it can be ensured that the height difference between the visual positioning feature plate 110 and the vision system 210 on the maintenance robot 200 is within a preset difference range, so that the vision system 210 can capture an image including the visual positioning feature plate 110.

[0041] The maintenance robot 200 may also be equipped with one or more ranging sensors 220 for detecting the distance between the maintenance robot and the target object being operated on. The ranging sensor 220 can be a laser ranging sensor, an infrared ranging sensor, or other sensors with ranging functions; this embodiment does not limit the specific type. When the ranging sensor 220 is a laser ranging sensor, its accuracy can reach ±0.01 mm.

[0042] In some examples, the number of ranging sensors 220 installed on the maintenance robot 200 can be two, for example, as Figure 1 As shown, the maintenance robot 200 is equipped with a first ranging sensor 220-1 and a second ranging sensor 220-2. It should be noted that this embodiment does not limit the number of ranging sensors installed on the maintenance robot 200. Figure 1 The example shown is based on the maintenance robot 200, which includes two ranging sensors. In actual applications, the number of ranging sensors can be set according to actual needs.

[0043] Taking the scenario of using an operation and maintenance robot to operate a server in a target object (such as a server rack) as an example, when the operation and maintenance robot 200 travels to the target location, the angular deviation between the operation and maintenance robot 200 and the target object 100 is obtained based on the multiple ranging sensors 220 of the operation and maintenance robot 200. Based on the angular deviation, the longitudinal deviation between the operation and maintenance robot 200 and the target object 100 is obtained through the ranging sensors 220. Based on the longitudinal deviation, the lateral deviation between the operation and maintenance robot 200 and the target object 100 is obtained through the vision system 210 of the operation and maintenance robot 200. Based on the lateral deviation, the operation and maintenance robot 200 is controlled to move so that the operation and maintenance robot 200 is aligned with the target object 100, thereby improving the efficiency and effectiveness of subsequent operation and maintenance of the operation and maintenance robot.

[0044] Figure 2 This is a flowchart illustrating a positioning method for an operation and maintenance robot provided in an embodiment of this application. Figure 2 As shown, the method includes steps 201 to 204.

[0045] Step 201: When the maintenance robot has traveled to the target location, obtain the angular deviation between the maintenance robot and the target object based on the distance measuring sensor of the maintenance robot.

[0046] For example, an operations and maintenance robot includes automated equipment capable of moving according to control commands, such as an Automated Guided Vehicle (AGV). The target operation object includes a server rack, which houses servers. In practical applications, the computing devices within the target operation object can be operated through the operating components on the operations and maintenance robot; for example, the servers in the server rack can be plugged in and unplugged using the operating components on the operations and maintenance robot. In this case, the operations and maintenance robot needs to be precisely aligned with the target operation object to effectively operate the computing devices within it. Therefore, the operations and maintenance robot can be first controlled to travel to the target location, and then adjusted to ensure precise alignment with the target operation object once it has arrived at the target location.

[0047] In some examples, map navigation can be used to control the maintenance robot to travel to a target location. For instance, the target location can be determined based on the position of the object being operated on the map. A travel path can be established based on the current position of the maintenance robot and the target location, and the maintenance robot can be controlled to travel to the target location based on the travel path. Since the accuracy of map navigation-based robot movement may be poor, the maintenance robot may not be precisely aligned with the target object after traveling to the target location. Therefore, further control is needed to ensure precise alignment between the maintenance robot and the target object.

[0048] For example, the target location can also be a location at a preset distance from the target object. For instance, the target location could be a location near the target object, where the preset distance is determined based on the accuracy of the map navigation. Even after the maintenance robot reaches the target location, it cannot be guaranteed that the maintenance robot and the target object are precisely aligned. Therefore, further control is needed to achieve more precise alignment between the maintenance robot and the target object.

[0049] For example, such as Figure 3 As shown in the map navigation route diagram, if the target location is point A near the target operation object, the maintenance robot is controlled to travel to point A according to the driving path shown in the diagram.

[0050] For example, when a maintenance robot travels to a target location, it may not be parallel to the target object. The angular deviation between the robot and the target object is called the angular deviation. Specifically, when using map navigation to control the robot's movement, this deviation may be too large, preventing the robot from aligning with the target. Therefore, it's necessary to use the robot's ranging sensor to obtain the angular deviation between the robot and the target object, and then control the robot's rotation based on this deviation and a preset angular deviation.

[0051] For example, the maintenance robot can be equipped with multiple ranging sensors. When the maintenance robot is equipped with multiple ranging sensors, multiple first distances between the maintenance robot and the target object are detected by the multiple ranging sensors of the maintenance robot. Based on the multiple first distances and the second distances between the multiple ranging sensors, the angular deviation between the maintenance robot and the target object is determined.

[0052] The first distance includes the distance detected by laser ranging via a ranging sensor. This distance, detected by laser ranging via a ranging sensor, represents the straight-line distance between the maintenance robot and the target object. The second distance includes the horizontal spacing between multiple ranging sensors.

[0053] The following example, using a maintenance robot equipped with two ranging sensors, illustrates the process of obtaining the angular deviation between the maintenance robot and the target object being operated on: like Figure 4 As shown in the angular deviation diagram, when the maintenance robot travels to the target location, the first distance D1 between the maintenance robot and the target object is detected by the first ranging sensor of the maintenance robot, and the second distance D2 between the maintenance robot and the target object is detected by the second ranging sensor of the maintenance robot. Based on the first distance D1, the second distance D2, and the second distance C between the first ranging sensor and the second ranging sensor, the angular deviation between the maintenance robot and the target object is determined.

[0054] It should be noted that when the maintenance robot travels to the target location, it may be parallel to the cabinet. In this case, the first distance D1 detected by the first ranging sensor and the second distance D2 detected by the second ranging sensor may be the same. However, there is also a situation where the maintenance robot is not parallel to the cabinet. In this case, the first distance D1 detected by the first ranging sensor and the second distance D2 detected by the second ranging sensor may also be different.

[0055] In some examples, after multiple first distances between the maintenance robot and the target object are detected by multiple ranging sensors of the maintenance robot, the distance difference is calculated based on the multiple first distances, and the angular deviation between the maintenance robot and the target object is determined based on the distance difference and the second distance between the multiple ranging sensors.

[0056] For example, such as Figure 4 As shown in the angular deviation diagram, after the first distance D1 between the maintenance robot and the target object is detected by the first ranging sensor 220-1 of the maintenance robot, and the second distance D2 between the maintenance robot and the target object is detected by the second ranging sensor 220-2 of the maintenance robot, the distance difference d=D1-D2 is calculated based on the first distance D1 and the second distance D2. According to the distance difference and the second distance C between the first ranging sensor 220-1 and the second ranging sensor 220-2, the angular deviation θ=arctan(d / C) is calculated by tanθ=d / C.

[0057] In some examples, the first and second ranging sensors can be installed on the same side of the robot's body, with a fixed horizontal distance between them, which is the second distance between the first and second ranging sensors.

[0058] For example, such as Figure 4 As shown in the angular deviation diagram, the first and second ranging sensors can be mounted on the front side of the robot's body, and the second distance between the first and second ranging sensors is C. The measurement axes corresponding to the point lasers emitted by the first and second ranging sensors can be parallel to the robot's forward direction or a preset reference direction, and both point towards the area where the target object is located. For example, if the target object is located directly in front of the robot, the measurement directions of both the first and second ranging sensors will be directly in front of the robot.

[0059] For example, taking a laser rangefinder as the ranging sensor, the first and second ranging sensors emit laser beams to the surface of the target object. By calculating the round-trip time (or phase difference) of the laser, the first distance between the maintenance robot and the target object can be obtained. For instance, the first distance D1 and the first distance D2 between the maintenance robot and the target object can be calculated based on the formula: distance = speed of light × round-trip time / 2.

[0060] For example, such as Figure 3 As shown in the angular deviation diagram, when the maintenance robot reaches the target location, the first distance between the maintenance robot and the target object, detected by the robot's first ranging sensor, is: speed of light c × round-trip time. / 2=D1, the second distance between the maintenance robot and the target object, detected by the second ranging sensor of the maintenance robot, is: speed of light c × round trip time. / 2=D2.

[0061] Step 202: Based on the angle deviation, obtain the longitudinal deviation between the maintenance robot and the target operation object through the ranging sensor.

[0062] For example, longitudinal deviation refers to the degree of deviation of the maintenance robot in the longitudinal direction relative to the maintenance robot. Since the maintenance robot may be too close or too far from the target object in the longitudinal direction when it travels to the target location, it is still necessary to obtain the longitudinal deviation between the maintenance robot and the target object through a ranging sensor in order to control the maintenance robot to move to a position that is at a suitable distance from the target object.

[0063] For example, if the angular deviation between the maintenance robot and the target object is less than or equal to the preset angular deviation, the maintenance robot is already relatively parallel to the target object. At this time, the maintenance robot may still be a distance D in the longitudinal direction from the target object. This distance D is the longitudinal deviation.

[0064] In some examples, after obtaining the angular deviation, it can be compared with a preset angular deviation. If the angular deviation is less than or equal to the preset angular deviation, it indicates that the maintenance robot is parallel or nearly parallel to the target object. In this case, multiple third distances between the maintenance robot and the target object can be detected using multiple ranging sensors. Based on these third distances, the longitudinal deviation between the maintenance robot and the target object is determined. If the angular deviation meets the preset requirements (i.e., the angular deviation is less than or equal to the preset angular deviation), the maintenance robot and the target object are further aligned longitudinally. The third distances include the distance detected by laser ranging via ranging sensors, which characterizes the straight-line distance between the maintenance robot and the target object.

[0065] In some examples, the longitudinal deviation between the maintenance robot and the target object is determined based on a first third distance detected by a first ranging sensor and a second third distance detected by a second ranging sensor. For instance, to improve the accuracy of the longitudinal deviation, the average distance between the first and second third distances can be used as the longitudinal deviation between the maintenance robot and the target object.

[0066] For example, in such Figure 5 As shown in the diagram of longitudinal deviation, when the first third distance between the maintenance robot and the target object is detected as D3 by the first ranging sensor of the maintenance robot, and the second third distance between the maintenance robot and the target object is detected as D4 by the second ranging sensor of the maintenance robot, the longitudinal deviation is calculated using the following formula:

[0067] In some examples, after comparing the acquired angle deviation with the preset angle deviation, if the angle deviation is greater than the preset angle deviation, the operation and maintenance robot is controlled to rotate based on the angle deviation. After the operation and maintenance robot rotates, the angle deviation between the operation and maintenance robot and the target operation object is detected again until the angle deviation between the operation and maintenance robot and the target operation object is less than or equal to the preset angle deviation. After that, the longitudinal deviation between the operation and maintenance robot and the target operation object is acquired through the ranging sensor.

[0068] By adjusting the angular deviation between the maintenance robot and the target object to an appropriate range (i.e., the angular deviation is less than or equal to a preset angular deviation), and based on the angular deviation being less than or equal to the preset angular deviation, the longitudinal deviation between the maintenance robot and the target object can be obtained through a ranging sensor, thereby enhancing the accuracy of the obtained longitudinal deviation.

[0069] The step of controlling the rotation of the maintenance robot based on angle deviation can be executed multiple times as needed until the angle deviation between the maintenance robot and the target object is detected to be less than or equal to a preset angle. For example, firstly, multiple first distances between the maintenance robot and the target object are obtained through two ranging sensors, and the angle deviation is calculated. If the angle deviation is greater than the preset angle, the maintenance robot is controlled to rotate to the angle value corresponding to the angle deviation. After rotation, the angle deviation between the maintenance robot and the target object is read and calculated again. If the angle deviation after rotation is still within the preset angle, the maintenance robot is controlled to rotate and adjust again. To ensure adjustment accuracy, the detection and adjustment actions can be repeated multiple times to gradually control the angle deviation between the maintenance robot and the target object to be less than or equal to the preset angle.

[0070] It should be noted that the preset angle deviation can be a small value, such as 0 degrees or close to 0 degrees. If the angle deviation between the maintenance robot and the target object is greater than the preset angle deviation, it indicates that the maintenance robot and the target object are not parallel. If the angle deviation between the maintenance robot and the target object is less than or equal to the preset angle, it indicates that the maintenance robot and the target object are parallel.

[0071] For example, the rotation of the maintenance robot can be controlled to be counterclockwise or clockwise based on the angular deviation. For instance, such as... Figure 3 As shown in the angle deviation diagram, the angle deviation between the maintenance robot and the target object can be calculated by substituting the first distance D1, the second distance D2, and the second distance into the angle calculation formula, using the counterclockwise direction as the reference direction. When the angle deviation is greater than the preset angle, in order to reduce the angle deviation between the maintenance robot and the target object, the maintenance robot can be controlled to rotate clockwise based on the angle deviation value, so that the angle deviation between the maintenance robot and the target object is less than or equal to the preset angle.

[0072] Step 203: Based on the longitudinal deviation, obtain the lateral deviation between the maintenance robot and the target operation object through the vision system of the maintenance robot.

[0073] For example, the vision system of a maintenance robot includes an image sensor or an image acquisition device containing an image sensor, such as an industrial camera or a camera. Lateral deviation refers to the degree of deviation of the maintenance robot in the lateral direction relative to the robot. Even after adjusting the angular and longitudinal deviations between the maintenance robot and the target object, the robot may still not be aligned laterally. Therefore, it is still necessary to obtain the longitudinal deviation between the robot and the target object through the vision system to control the robot to move and align with the target object. For example, as... Figure 6 As shown in the schematic diagram of the lateral deviation, the lateral deviation is H.

[0074] In some examples, after acquiring the longitudinal deviation, it can be detected whether the longitudinal deviation is within a preset distance range. This preset distance range can be determined based on the image acquisition distance of the vision system. Since the vision system requires a suitable image acquisition distance, if the longitudinal deviation is not within the set range, it will cause the vision system to fail to acquire the image, thus affecting the alignment of the maintenance robot with the target object. For example, when the vision system is an industrial camera, the preset distance range can be determined based on the focal length of the industrial camera.

[0075] In some examples, when the longitudinal deviation is within a preset distance range, it indicates that the machine vision system of the maintenance robot can perform the image acquisition function. In this case, the first image corresponding to the visual positioning feature plate set on the target operation object is acquired by the vision system of the maintenance robot, multiple white marker points in the first image are identified, and the lateral deviation between the maintenance robot and the target operation object is determined based on the position information of the multiple white marker points and the reference position.

[0076] For example, the first image includes a black background and multiple white marker points on a visual positioning feature plate. For instance, as... Figure 7 As shown in the schematic diagram of the visual positioning feature plate, the first image can be a black background with four white markers on it.

[0077] In some examples, when the longitudinal deviation exceeds the preset distance range, the robot's movement is controlled based on the longitudinal deviation and the preset distance range. After the maintenance robot moves, the longitudinal deviation between the maintenance robot and the target object is detected again until the longitudinal deviation between the maintenance robot and the target object is within the preset distance range. The lateral deviation between the maintenance robot and the target object is obtained through the maintenance robot's vision system.

[0078] It should be noted that if the longitudinal deviation exceeds the preset distance range, it indicates that the longitudinal distance between the maintenance robot and the target object is too close or too far. When the longitudinal distance between the maintenance robot and the target object is too close, the robot can be controlled to retreat based on the longitudinal deviation and the preset distance range; when the longitudinal distance between the maintenance robot and the target object is too far, the robot can be controlled to move forward based on the longitudinal deviation and the preset distance range, so that the longitudinal deviation between the maintenance robot and the target object is within the preset distance range.

[0079] If the longitudinal distance is not within the preset distance range, the steps of controlling the robot's movement based on the longitudinal deviation and the preset distance range can be executed multiple times as needed until the longitudinal distance between the maintenance robot and the target object is within the preset distance range.

[0080] In some examples, the location information of the target point is determined based on the position information of multiple white marker points. The lateral deviation is determined based on the difference between the target point's location and the reference position. Specifically, the find_circle algorithm provided by the vision algorithm platform can be used to identify multiple white marker points in the first image. Then, the disp_line algorithm is used to draw the line segments connecting the two diagonal white marker points. The intersection_lines algorithm is used to calculate the coordinates of the intersection point of the two line segments, which is the coordinate value (a, b) of the target point. Given that the coordinate value of the reference position is (a1, b1), the coordinate difference (a1-a, b1-b) is calculated as the lateral deviation of the maintenance robot relative to the reference position.

[0081] By using circle-finding algorithms, line-drawing algorithms, and intersection point coordinate calculation algorithms, we can avoid large deviations in the positional information of the identified target points caused by using a single algorithm. By identifying multiple marker points and performing multiple algorithm conversions, even if the identification effect of a single marker point is not good, the deviation can be compensated and neutralized by other successfully identified marker points. As a result, the final calculated coordinate value is not much different from the actual value, thereby improving the anti-interference ability and stability of image recognition.

[0082] Step 204: Control the movement of the maintenance robot based on lateral deviation to align the maintenance robot with the target object.

[0083] In some examples, when the lateral deviation is greater than or equal to a preset lateral distance, the operation and maintenance robot is moved based on the lateral deviation to align the operation and maintenance robot with the target operation object; when the lateral deviation is less than the preset lateral distance, the alignment of the operation and maintenance robot with the target operation object is determined.

[0084] It should be noted that when the lateral deviation is greater than or equal to the preset lateral distance, the steps for controlling the movement of the maintenance robot based on the lateral deviation can be executed multiple times as needed until the maintenance robot is aligned with the target object. For example, alignment of the maintenance robot with the target object indicates that the maintenance robot has moved to the reference position, or the lateral deviation from the reference position is less than the preset lateral distance.

[0085] In some examples, the offset direction of the maintenance robot can be determined based on the sign of the coordinate difference corresponding to the lateral deviation. For instance, if the coordinate difference (a1-a, b1-b) is greater than 0, the robot is controlled to move horizontally to the left until the coordinate difference (a1-a, b1-b) equals 0; as another example, if the coordinate difference (a1-a, b1-b) is less than 0, the robot is controlled to move horizontally to the right until the coordinate difference (a1-a, b1-b) equals 0. When the coordinate difference (a1-a, b1-b) equals 0, the maintenance robot is aligned with the target object.

[0086] It should be noted that the accuracy of the coordinate difference depends on the pixel accuracy of the vision system and the number of contour transition pixels of the positioning marker. In the first image, the outline of the marker point should ideally be a clear boundary between the background and the target. However, in actual images, factors such as lighting, noise, and the accuracy of the imaging device may cause the outline edge to not be abruptly black and white, but rather a transitional region where the grayscale value gradually changes. The pixels in this region are the contour transition pixels, and their number is the total number of contour transition pixels. In this embodiment, if a standard 10-megapixel vision system with a field of view of 40... With a radius of 25mm, the size of a single pixel can reach 0.01mm. Assuming a transition pixel count of two for the visual contour, the coordinate difference accuracy can reach ±0.02mm, demonstrating high precision in detecting both longitudinal distance and lateral deviation. Therefore, the final alignment accuracy between the maintenance robot and the target object depends on the execution precision of the robot's steering wheel servo motor, rather than being limited by positioning accuracy. Using a steering wheel radius of 50mm and a servo encoder with a standard precision of 2500 lines at 4x frequency (outputting 10,000 pulses per revolution), the steering wheel motion accuracy can reach ±0.1mm. Thus, the final positioning accuracy of the maintenance robot positioning method provided in this embodiment can reach ±0.1mm.

[0087] In some examples, if the target deviation between the maintenance robot and the target object does not meet the preset conditions, the maintenance robot is controlled to move based on the target deviation. After the maintenance robot moves, the target deviation between the maintenance robot and the target object is detected again until the target deviation between the maintenance robot and the target object meets the preset conditions, thus determining that the maintenance robot and the target object are aligned.

[0088] For example, the target deviation includes at least one of angular deviation, longitudinal deviation, and lateral deviation. The following explanation uses longitudinal deviation as an example: When the longitudinal deviation exceeds a preset distance range, the robot is controlled to move based on the longitudinal deviation and the preset distance range until the longitudinal deviation between the maintenance robot and the target object is within the preset distance range. Since the robot may generate angular deviation again after moving, the angular deviation between the maintenance robot and the target object can be determined again. When the angular deviation between the maintenance robot and the target object is less than or equal to a preset angle, the lateral deviation between the maintenance robot and the target object is obtained through the maintenance robot's vision system. Because the angular deviation between the maintenance robot and the target object may change again during the adjustment of the longitudinal deviation, in order not to affect accurate alignment, after adjusting the longitudinal distance, the steps of detecting the angular deviation and adjusting the angle need to be repeated to ensure that the angular deviation is less than or equal to the preset angle.

[0089] The positioning method for maintenance robots provided in this application involves, when the maintenance robot reaches the target location, acquiring the angular deviation between the maintenance robot and the target object based on the robot's ranging sensor. Based on the angular deviation, the longitudinal deviation between the maintenance robot and the target object is acquired using the ranging sensor. Based on the longitudinal deviation, the lateral deviation between the maintenance robot and the target object is acquired using the robot's vision system. The movement of the maintenance robot is then controlled based on the lateral deviation to align it with the target object. By controlling the movement of the maintenance robot step-by-step according to the sequence of angular deviation, longitudinal deviation, and lateral deviation, the positioning accuracy of the maintenance robot can be improved, achieving precise alignment between the maintenance robot and the target object, reducing operational errors, and thus improving the maintenance efficiency and effectiveness of the robot.

[0090] Figure 8 A flowchart of another positioning method for an operation and maintenance robot provided in the embodiments of this application is shown below. Figure 8 As shown, the method includes steps 801 to 813.

[0091] Step 801: When the maintenance robot has traveled to the target location, multiple first distances between the maintenance robot and the target object are detected by multiple ranging sensors of the maintenance robot.

[0092] Step 802: Based on multiple first distances, determine the angular deviation between the maintenance robot and the target operation object.

[0093] Step 803: If the angle deviation is greater than the preset angle, control the operation and maintenance robot to rotate.

[0094] Step 804: Check whether the angle deviation is less than or equal to the preset angle.

[0095] If not, proceed to step 803 above.

[0096] If so, proceed with steps 805 to 807 below.

[0097] Step 805: Detect multiple third distances between the maintenance robot and the target object using a ranging sensor.

[0098] Step 806: Determine the longitudinal distance between the maintenance robot and the target operation object based on multiple third distances.

[0099] Step 807: When the longitudinal distance is outside the preset distance range, control the robot to move longitudinally.

[0100] Step 808: Detect whether the longitudinal distance is within the preset distance range.

[0101] If not, proceed to step 807 above.

[0102] If so, proceed with steps 809 to 811 below.

[0103] Step 809: The image sensor of the maintenance robot is used to collect the positioning mark set on the target operation object to obtain an image.

[0104] Step 810: Identify multiple marker points in the image, and determine the lateral deviation between the maintenance robot and the target object based on the location information of the multiple marker points and the reference position.

[0105] Step 811: When the lateral deviation is outside the lateral distance range, control the maintenance robot to move laterally.

[0106] Step 812: Check whether the lateral deviation is within the lateral distance range.

[0107] If not, proceed to step 811 above.

[0108] If so, proceed with step 813 below.

[0109] Step 813: Ensure the maintenance robot is aligned with the target operation object.

[0110] Corresponding to the aforementioned embodiments of the positioning method for maintenance robots, this application also provides embodiments of the positioning device for maintenance robots. Figure 9 A positioning device for an operation and maintenance robot provided in this application embodiment, such as Figure 9As shown, the positioning device 900 of the maintenance robot includes an angle deviation acquisition module 901, a longitudinal deviation acquisition module 902, a lateral deviation acquisition module 903, and a movement module 904.

[0111] Angle deviation acquisition module 901 is used to acquire the angle deviation between the maintenance robot and the target operation object based on the distance measuring sensor of the maintenance robot when the maintenance robot travels to the target location. The longitudinal deviation acquisition module 902 is used to acquire the longitudinal deviation between the maintenance robot and the target operation object based on the angle deviation through the ranging sensor; The lateral deviation acquisition module 903 is used to acquire the lateral deviation between the maintenance robot and the target operation object through the vision system of the maintenance robot based on the longitudinal deviation. The movement module 904 is used to control the movement of the maintenance robot based on the lateral deviation, so as to align the maintenance robot with the target operation object.

[0112] In another possible implementation, the angle deviation acquisition module 901 is used to detect multiple first distances between the maintenance robot and the target operation object through multiple ranging sensors of the maintenance robot. Based on the plurality of first distances and the second distances between the plurality of ranging sensors, the angular deviation between the maintenance robot and the target object is determined.

[0113] In another possible implementation, the longitudinal deviation acquisition module 902 is used to detect multiple third distances between the maintenance robot and the target operation object by means of the multiple ranging sensors when the angle deviation is less than or equal to a preset angle deviation; and to determine the longitudinal deviation between the maintenance robot and the target operation object based on the multiple third distances.

[0114] In another possible implementation, the longitudinal deviation acquisition module 902 is used to control the rotation of the maintenance robot based on the angle deviation when the angle deviation is greater than a preset angle deviation; after the maintenance robot rotates, the angle deviation between the maintenance robot and the target operation object is detected again until the angle deviation between the maintenance robot and the target operation object is less than or equal to the preset angle deviation, and the longitudinal deviation between the maintenance robot and the target operation object is acquired through the ranging sensor.

[0115] In another possible implementation, the lateral deviation acquisition module 903 is used to acquire a first image corresponding to the visual positioning feature plate set on the target operation object through the vision system of the maintenance robot when the longitudinal deviation is within a preset distance range; wherein, the first image includes a black background and multiple white markers on the visual positioning feature plate; the multiple white markers in the first image are identified, and the lateral deviation between the maintenance robot and the target operation object is determined based on the position information and reference position of the multiple white markers.

[0116] In another possible implementation, the lateral deviation acquisition module 903 is used to control the robot's movement based on the longitudinal deviation and the preset distance range when the longitudinal deviation exceeds the preset distance range; After the maintenance robot moves, the longitudinal deviation between the maintenance robot and the target object is detected again until the longitudinal deviation between the maintenance robot and the target object is within a preset distance range. The lateral deviation between the maintenance robot and the target object is obtained through the vision system of the maintenance robot.

[0117] In another possible implementation, the lateral deviation acquisition module 903 is used to determine the position information of the target point based on the position information of the plurality of white marker points; and to determine the lateral deviation based on the difference between the position information of the target point and the reference position.

[0118] In another possible implementation, the method further includes: if the target deviation between the maintenance robot and the target operation object does not meet a preset condition, controlling the movement of the maintenance robot based on the target deviation; wherein the target deviation includes at least one of the angular deviation, the longitudinal deviation, and the lateral deviation; after the maintenance robot moves, detecting the target deviation between the maintenance robot and the target operation object again until the target deviation between the maintenance robot and the target operation object meets the preset condition, and determining that the maintenance robot and the target operation object are aligned.

[0119] The beneficial technical effects corresponding to the above-described exemplary embodiment of the task processing device 900 can be found in the corresponding beneficial technical effects in the above-described method embodiment section, and will not be repeated here.

[0120] Figure 10This is a schematic diagram of a positioning device for an operation and maintenance robot provided in some embodiments of this application. In some embodiments, the positioning device can be a server, a terminal device, etc. The positioning device includes a multi-core processor and a memory. The multi-core processor includes multiple processor cores; the memory is configured to store one or more programs. When the one or more programs are executed by the multi-core processor, the multi-core processor implements the master station communication method or the master station module deployment method in the above embodiments.

[0121] like Figure 10 As shown, device 1000 includes a multi-core processor 1001 and a memory 1002. Exemplarily, positioning device 1000 may also include a communications interface 1003 and a communications bus 1004.

[0122] The multi-core processor 1001, memory 1002, and communication interface 1003 communicate with each other via communication bus 1004. Communication interface 1003 is used to communicate with other network elements such as clients or other servers.

[0123] In some examples, the multi-core processor 1001 is used to execute program 1005, specifically performing the relevant steps in the above-described master station communication method or master station module deployment method embodiments. Specifically, program 1005 may include program code, which includes computer-executable instructions.

[0124] For example, the multi-core processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement some embodiments of this application. The positioning device 1000 may include multi-core processors, which may be of the same type, such as one or more CPUs; or they may be multi-core processors of different types, such as one or more CPUs and one or more ASICs.

[0125] In some examples, memory 1002 is used to store program 1005. Memory 1002 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage.

[0126] Specifically, program 1005 can be called by multi-core processor 1001 to enable positioning device 1000 to execute master station communication method or master station module deployment method operation.

[0127] Some embodiments of this application provide a computer-readable storage medium storing at least one executable instruction that, when executed on a positioning device 1000, causes the positioning device 1000 to perform the positioning method of the maintenance robot in the above embodiments.

[0128] Specifically, the executable instructions can be used to enable the positioning device 1000 to perform master station communication methods or master station module deployment methods.

[0129] For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device.

[0130] The beneficial effects that the readable storage medium provided in some embodiments of this application can achieve can be referred to the beneficial effects in the corresponding master station communication method or master station module deployment method provided above, and will not be repeated here.

[0131] In addition to the methods, apparatus, and devices described above, embodiments of this application may also provide a computer program product, including computer program instructions, which, when executed by a processor, cause the processor to perform the steps in the positioning methods of the maintenance robot described in the various embodiments of this application above.

[0132] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. These programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0133] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the positioning methods of the maintenance robot of the various embodiments of this application described in the above method embodiment section.

[0134] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, systems, apparatuses, or devices that are electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0135] The basic principles of this application have been described above with reference to specific embodiments. However, the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details of the above embodiments are for illustrative and facilitative purposes only, and are not limitations. These details do not restrict this application from being implemented using the aforementioned specific details.

[0136] Those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0137] Furthermore, the embodiments described above are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made based on the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A positioning method of an operation and maintenance robot, characterized by, The method comprises: In the case that the operation and maintenance robot drives to the target location, the angle deviation between the operation and maintenance robot and the target operation object is obtained based on the ranging sensor of the operation and maintenance robot; Based on the angle deviation, the longitudinal deviation between the operation and maintenance robot and the target operation object is obtained through the ranging sensor; Based on the longitudinal deviation, the lateral deviation between the operation and maintenance robot and the target operation object is obtained through the visual system of the operation and maintenance robot; Based on the lateral deviation, the operation and maintenance robot is controlled to move so as to align the operation and maintenance robot with the target operation object.

2. The positioning method of the operation and maintenance robot according to claim 1, characterized in that, The angle deviation between the operation and maintenance robot and the target operation object is obtained based on the ranging sensor of the operation and maintenance robot, comprising: A plurality of first distances between the operation and maintenance robot and the target operation object are detected respectively through a plurality of ranging sensors of the operation and maintenance robot; Based on the plurality of first distances and a second distance between the plurality of ranging sensors, the angle deviation between the operation and maintenance robot and the target operation object is determined.

3. The positioning method of the operation and maintenance robot according to claim 1 or 2, characterized in that, The longitudinal deviation between the operation and maintenance robot and the target operation object is obtained through the ranging sensor based on the angle deviation, comprising: In the case that the angle deviation is less than or equal to a preset angle deviation, a plurality of third distances between the operation and maintenance robot and the target operation object are detected respectively through the plurality of ranging sensors; Based on the plurality of third distances, the longitudinal deviation between the operation and maintenance robot and the target operation object is determined.

4. The positioning method of the operation and maintenance robot according to claim 1 or 2, characterized in that, The longitudinal deviation between the operation and maintenance robot and the target operation object is obtained through the ranging sensor based on the angle deviation, comprising: In the case that the angle deviation is greater than a preset angle deviation, the operation and maintenance robot is controlled to rotate based on the angle deviation; After the operation and maintenance robot rotates, the angle deviation between the operation and maintenance robot and the target operation object is detected again until the angle deviation between the operation and maintenance robot and the target operation object is less than or equal to a preset angle deviation, and the longitudinal deviation between the operation and maintenance robot and the target operation object is obtained through the ranging sensor.

5. The positioning method of the operation and maintenance robot according to any one of claims 1-4, characterized in that, The lateral deviation between the operation and maintenance robot and the target operation object is obtained through the visual system of the operation and maintenance robot based on the longitudinal deviation, comprising: In the case that the longitudinal deviation is within a preset distance range, a first image corresponding to a visual positioning feature plate provided on the target operation object is collected through the visual system of the operation and maintenance robot; wherein the first image comprises a black bottom surface and a plurality of white mark points on the visual positioning feature plate; The plurality of white mark points in the first image are identified, and based on the position information of the plurality of white mark points and a reference position, the lateral deviation between the operation and maintenance robot and the target operation object is determined.

6. The positioning method of the operation and maintenance robot according to any one of claims 1-4, characterized in that, The lateral deviation between the operation and maintenance robot and the target operation object is obtained through the visual system of the operation and maintenance robot based on the longitudinal deviation, comprising: In the case that the longitudinal deviation exceeds a preset distance range, the robot is controlled to move based on the longitudinal deviation and the preset distance range; After the operation and maintenance robot moves, the longitudinal deviation between the operation and maintenance robot and the target operation object is detected again until the longitudinal deviation between the operation and maintenance robot and the target operation object is within a preset distance range, and the lateral deviation between the operation and maintenance robot and the target operation object is obtained by the vision system of the operation and maintenance robot.

7. The positioning method of claim 5 or 6, characterized in that, The lateral deviation between the operation and maintenance robot and the target operation object is determined based on the position information of the plurality of white identification points and the reference position, including: The position information of a target point is determined based on the position information of the plurality of white identification points. The lateral deviation is determined based on the difference between the position information of the target point and the reference position.

8. The positioning method of the operation and maintenance robot according to any one of claims 1-7, characterized in that, The method further includes: In a case where the target deviation between the operation and maintenance robot and the target operation object does not satisfy a preset condition, the operation and maintenance robot is controlled to move based on the target deviation, wherein the target deviation includes at least one of the angle deviation, the longitudinal deviation and the lateral deviation; After the operation and maintenance robot moves, the target deviation between the operation and maintenance robot and the target operation object is detected again until the target deviation between the operation and maintenance robot and the target operation object satisfies the preset condition, and it is determined that the operation and maintenance robot is aligned with the target operation object.

9. A positioning device, characterized by including: one or more processors; and a memory configured to store one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the operation and maintenance robot according to any one of claims 1-8.

10. A computer readable storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the positioning method of the operation and maintenance robot according to any one of claims 1-8.

Images