Tunnel intelligent inspection robot positioning device and method

Abstract

A tunnel intelligent inspection robot positioning device and method. The positioning device consists of a controller, an execution module, and a feedback module; the controller directly controls a behavior of the execution module; the feedback module monitors a real-time position of a tunnel intelligent inspection robot and feeds back the real-time position to the controller; and the controller receives and analyzes the data of the feedback module so as to calibrate the control on the execution module. The positioning method comprises a target positioning method and a back-to-origin positioning method, the target positioning method is a positioning method in a traveling process of the tunnel intelligent inspection robot, and the back-to-origin positioning method is an operating method for the tunnel intelligent inspection robot returning to a unique origin from any position other than the origin.

Description

Tunnel intelligent inspection robot positioning device and method Technical Field

[0001] The present invention relates to a tunnel robot positioning device and method, and in particular discloses a rail-mounted multi-module tunnel intelligent inspection robot positioning device and method, which are applied to the field of tunnel detection. Background Art

[0002] With the dramatic increase in the scale of domestic tunnel operations and the rapid development of robotics technology, robots are increasingly used in the field of rapid inspection of unmanned infrastructure such as tunnels and underground pipelines. Precise positioning during robot movement is one of the key technologies.

[0003] With the continuous development of computer technology, motion control, and other technologies, a number of tunnel rail robot positioning devices and methods have emerged. Patent CN201520326405.4 discloses a rail robot walking positioning device based on fiber optic sensors. This device uses a servo drive to control the wheel rotation angle and compares the read angle value with the positioning hole position information stored in the computer to obtain the robot's precise position. Patent CN201921399769.X discloses a suspended motion device for a rail robot. This device utilizes two sets of mounting drive mechanisms to achieve movement. Two sets of quick-release mounting mechanisms facilitate assembly and disassembly, transportation, and maintenance. An adaptive guide clamping mechanism applies rolling contact with a certain pressure at two points on the side of the track, solving the problem of the rail robot's large turning radius and difficult maintenance. Patent CN202211579279.4 discloses a tunnel robot positioning method, system, device, and storage medium. This device uses an RFID identification system to obtain the tunnel robot's current position information. Existing rapid positioning technologies for tunnel machinery and equipment mostly use a single positioning method, resulting in low positioning accuracy and difficulty in meeting the precise addressing requirements for long-distance movement.

[0004] In summary, there is an urgent need for a high-precision positioning device and method for a tunnel intelligent inspection robot that is suitable for long-distance movement and multi-module combined operation.

[0005] Summary of the Invention

[0006] The purpose of the present invention is to design a positioning device and method for a tunnel intelligent inspection robot, which mainly solves the technical problems of the existing inspection robot having a single long-distance movement positioning method and low positioning accuracy.

[0007] The objectives of the present invention can be achieved through the following technical solutions: a tunnel intelligent inspection robot positioning device, consisting of a controller, an execution module and a feedback module; the controller directly controls the behavior of the execution module, the feedback module monitors the real-time position of the robot and feeds back to the controller, and the controller receives and analyzes the data of the feedback module to calibrate the control of the execution module.

[0008] The controller is a programmable logic controller with a built-in algorithm module to receive and analyze position data and send the number of position pulses of the target position, so as to realize efficient data processing and intelligent decision-making during the robot movement and determination of its real-time position;

[0009] The execution module is composed of a driver and a motor. The driver includes a position driver, a speed driver, and a current driver. The driver is used to receive the operation instructions sent by the controller, decode them and send them to the motor, and drive the motor to operate, realize the movement of the robot and determine its real-time position.

[0010] The feedback module consists of two parts: an encoder positioning device and an RFID identification system;

[0011] The encoder positioning device includes a pedometer wheel, a pedometer wheel base, a mounting plate, a connecting shaft, a key, a bearing, a shaft retaining ring, a hole retaining ring, a flexible coupling, an encoder, and an encoder flexible bracket; the pedometer wheel is connected to the connecting shaft through a key, and is axially positioned by the shaft retaining ring. Two bearings are installed in the pedometer wheel base, and the outer side is axially positioned using a hole retaining ring. The connecting shaft passes through the bearing and is installed in the pedometer wheel base. The mounting plate is fixed to the pedometer wheel base by screws. One end of the flexible coupling is connected to the connecting shaft through a top screw, and the other end is connected to the encoder through a top screw. The encoder is installed on the encoder flexible bracket. The pedometer wheel rotates as the robot moves, and is transmitted through the connecting shaft and the flexible coupling, and finally transmitted to the encoder. The encoder sends a signal to the controller, and after decoding, the robot's moving position is obtained; the encoder positioning device is connected to the trolley body through the pedometer wheel base, and the encoder positioning device can provide real-time feedback on the robot's real-time position during movement;

[0012] The RFID identification system consists of a card reader and multiple electronic tags. The card reader is fixed to the upper part of the robot by bolts. The electronic tags are installed at different positions on the track according to the actual mileage. The electronic tags have unique numbers corresponding to the corresponding mileage. When the robot moves, the card reader reads the numbers on the electronic tags, which are decoded by the controller to obtain the real-time position of the robot.

[0013] The positioning method of the tunnel intelligent inspection robot includes a target positioning method and a return-to-origin positioning method, wherein the target positioning method is used for positioning the robot during driving, and the return-to-origin positioning method is used for the robot to return to a unique origin at any position outside the origin;

[0014] The target positioning method is divided into two modes:

[0015] (1) Encoder positioning mode: The controller calculates the number of position pulses of the target position according to the built-in algorithm and sends it to the driver. The driver automatically analyzes the number of position pulses and guides the motor to perform the corresponding position operation. During this process, the encoder returns the position data to the controller in real time. The controller analyzes the position data returned by the encoder to correct the real-time position of the robot and updates the current position information.

[0016] (2) RFID identification and positioning mode: The system pre-writes the RFID tag information of all target points in the running track. When the robot passes a target point marked with an RFID tag during driving, it can automatically read the location information of the tag and correct the current position to the tag position. After correction, the system updates the current position information to the tag position and uses the corrected position as a reference for subsequent target positions.

[0017] The RFID identification positioning mode has a higher priority than the encoder positioning mode;

[0018] In the homing positioning method, the robot detects signals through the origin sensor, which is divided into three stages: guidance, positioning, and compensation. The specific operations are as follows:

[0019] (1) Guidance phase: The robot is at any position outside the origin. After receiving the return-to-origin instruction, the controller receives the position information transmitted by the encoder and obtains the real-time position of the robot.

[0020] Furthermore, the controller analyzes the position data and sends a direction signal pulse and a position pulse train to the driver;

[0021] Furthermore, the driver guides the robot to accelerate from rest to V1 with a positive acceleration a1, as shown in formula (1); V1=a1T1#(1)

[0022] Wherein, V1 is the robot speed during the guidance phase, a1 is the forward acceleration during the guidance phase, and T1 is the time taken for acceleration.

[0023] The forward direction is the direction in which the robot first moves toward the origin;

[0024] Furthermore, the robot drives towards the origin at a uniform speed V1 to complete the guidance process, and the real-time position of the robot relative to the initial position is shown in formula (2);

[0025] Where t1-time variable of the guidance phase, X1(t1)-real-time position of the robot relative to the initial position during the guidance phase;

[0026] (2) Positioning phase: When the robot passes the origin and detects the origin sensor signal, the system starts the range limit to detect whether the robot has left the range;

[0027] The interval limit is the sensing range of the positive and negative directions of the position of the origin sensor set by the user;

[0028] Furthermore, the robot reduces its velocity from V1 to 0 with a reverse acceleration of -a2, as shown in formula (3). At this time, the robot is at a position beyond the origin; 0 = V1 - a2T2#(3)

[0029] Wherein, -a2-reverse acceleration of deceleration during the positioning phase, T2-deceleration time;

[0030] The reverse direction is the opposite direction of the robot's first movement toward the origin;

[0031] Furthermore, the robot accelerates to V2 with the reverse acceleration -a3, as shown in formula (4); V2 = -a3T3#(4)

[0032] Wherein, V2 is the speed of the robot during the positioning phase, a3 is the reverse acceleration of the positioning phase, and T3 is the time taken for acceleration.

[0033] Furthermore, the robot moves towards the origin at a uniform speed V2 to complete the positioning process. The real-time position X2(t2) of the robot relative to the origin is shown in formula (5);

[0034] Among them, t2-time variable of the positioning phase, X2(t2)-real-time position of the robot relative to the origin during the positioning phase;

[0035] (3) Compensation phase: When the robot passes the origin sensor for the second time, it decelerates to 0 with the positive acceleration a4, as shown in formula (6). At this time, the robot is between the origin and the initial position; 0 = V2-a4T4#(6)

[0036] Where a4 is the forward acceleration of the deceleration during the positioning phase, and T4 is the time taken for deceleration.

[0037] Furthermore, the robot accelerates to V3 with a positive acceleration a5 to perform deviation compensation, as shown in formula (7);

[0038] Furthermore, the robot moves towards the origin at a constant speed until it passes the origin sensor for the third time, at which point the robot decelerates to a standstill, completing the compensation process.

[0039] V3=a5T5#(7)

[0040] Where V3 is the robot speed during the compensation phase, a5 is the forward acceleration during the acceleration phase, and T5 is the time taken for acceleration.

[0041] During the homing positioning method, if the robot moves beyond the interval limit, the controller sends a correction signal to guide the robot to find the origin position again. The interval limit can effectively prevent the robot from deviating from the target position during the homing process, thereby improving the accuracy and reliability of the homing positioning method.

[0042] The beneficial effects of the present invention are:

[0043] (1) The present invention is a positioning device and method for a long-distance intelligent inspection robot in a tunnel, which can be used for long-distance tunnel inspection. The invention combines an encoder positioning device and an RFID identification system method, diversifies the positioning methods, reduces the instability of a single positioning method, and improves the robot's positioning accuracy.

[0044] (2) The present invention can realize real-time positioning of the robot during movement, as well as the operation of quickly and accurately returning to the origin at any position, thereby improving the work efficiency of the inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a perspective view of an encoder positioning device according to the present invention;

[0046] FIG2 is a front view of the encoder positioning device of the present invention;

[0047] FIG3 is a cross-sectional view of an encoder positioning device according to the present invention;

[0048] FIG4 is a right side view of the encoder positioning device of the present invention;

[0049] FIG5 is a schematic diagram of a pedometer wheel of an encoder positioning device according to the present invention;

[0050] FIG6 is a schematic diagram of a connecting shaft of an encoder positioning device according to the present invention;

[0051] 7 is a schematic diagram of the pedometer wheel base of the encoder positioning device of the present invention;

[0052] FIG8 is a schematic diagram of a mounting plate of an encoder positioning device according to the present invention;

[0053] 9 is a schematic diagram of an encoder flexible bracket of an encoder positioning device of the present invention;

[0054] FIG10 is an overall schematic diagram of the RFID device of the present invention;

[0055] FIG11 is a schematic diagram of the overall drive of the present invention;

[0056] FIG12 is a block diagram of the components and information transmission control of the robot positioning device of the present invention.

[0057] In the figure: 1- pedometer wheel, 2- connecting shaft, 3- key, 4- shaft retaining spring, 5- bearing, 6- pedometer wheel base, 7- hole retaining spring, 8- mounting plate, 9- flexible coupling, 10- encoder, 11- encoder flexible bracket. DETAILED DESCRIPTION

[0058] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] As shown in Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12, a positioning device for a tunnel intelligent inspection robot consists of a controller, an execution module, and a feedback module; the controller directly controls the behavior of the execution module, the feedback module monitors the real-time position of the robot and feeds back to the controller, and the controller receives and analyzes data from the feedback module to calibrate control of the execution module.

[0060] The controller is a programmable logic controller with built-in algorithm modules (motion planning algorithm and PID control algorithm) to receive and analyze position data and send the number of position pulses of the target position, thereby realizing efficient data processing and intelligent decision-making during the robot movement and determination of its real-time position.

[0061] The execution module consists of a driver and a motor. The driver (Zhongling Technology ZLAC706-CAN) includes a position driver, a speed driver and a current driver. The driver is used to receive the operation instructions sent by the controller, decode them and send them to the motor, and drive the motor to run, realize the robot movement and determine its real-time position.

[0062] The feedback module consists of two parts: an encoder positioning device (Woji Technology Tr-h620) and an RFID identification system (Woji Technology TG-H50R).

[0063] The encoder positioning device includes a pedometer wheel 1, a pedometer wheel base 6, a mounting plate 8, a connecting shaft 2, a key 3, a bearing 5, a shaft retaining ring 4, a hole retaining ring 7, a flexible coupling 9, an encoder 10, and an encoder flexible bracket 11; the pedometer wheel 1 is connected to the connecting shaft 2 through a key 3, and is axially positioned by the shaft retaining ring 4. Two bearings 5 ​​are installed in the pedometer wheel base 6, and the outer side is axially positioned using the hole retaining ring 7. The connecting shaft 2 passes through the bearing 5 and is installed in the pedometer wheel base 6. The mounting plate 8 is fixed to the pedometer wheel base 6 by screws. One end of the flexible coupling 9 is connected to the connecting shaft 2 by a top screw, and the other end is connected to the encoder 10 by a top screw. The encoder 10 is installed on the encoder flexible bracket 11. The pedometer wheel 1 rotates as the robot moves, and is transmitted through the connecting shaft 2 and the flexible coupling 9, and finally transmitted to the encoder 10. The encoder 10 sends a signal to the controller, and after decoding, the robot's moving position is obtained; the encoder positioning device is connected to the trolley body through the pedometer wheel base, and the encoder positioning device can provide real-time feedback on the real-time position of the robot when moving.

[0064] The RFID identification system consists of a card reader and multiple electronic tags. The card reader is fixed to the upper part of the robot by bolts. The electronic tags are installed at different positions on the track according to the actual mileage. The electronic tags have unique numbers corresponding to the corresponding mileage. When the robot moves, the card reader reads the number on the electronic tag, which is decoded by the controller to obtain the real-time position of the robot.

[0065] The positioning method of the tunnel intelligent inspection robot includes a target positioning method and a return-to-origin positioning method, wherein the target positioning method is used for positioning the robot during driving, and the return-to-origin positioning method is used for the robot to return to a unique origin at any position outside the origin.

[0066] The target positioning method is divided into two modes:

[0067] (1) Encoder positioning mode: The controller calculates the number of position pulses of the target position according to the built-in algorithm and sends it to the driver. The driver automatically analyzes the number of position pulses and guides the motor to perform the corresponding position operation. During this process, the encoder will return the position data to the controller in real time. The controller analyzes the position data returned by the encoder to correct the real-time position of the robot and update the current position information.

[0068] (2) RFID identification and positioning mode: The system pre-writes the RFID tag information of all target points in the running track. During the robot's driving process, when it passes a target point marked with an RFID tag, the robot can automatically read the location information of the tag and correct the current position to the tag position. After correction, the system updates the current position information to the tag position and uses the corrected position as a reference for subsequent target positions.

[0069] Preferably, the RFID identification positioning mode has a higher priority than the encoder positioning mode.

[0070] In the homing positioning method, the robot detects signals through the origin sensor, which is divided into three stages: guidance, positioning, and compensation. The specific operations are as follows:

[0071] (1) Guidance phase: The robot is at any position outside the origin. After receiving the return-to-origin instruction, the controller receives the position information transmitted by the encoder and obtains the real-time position of the robot.

[0072] Furthermore, the controller analyzes the position data and sends a direction signal pulse and a position pulse train to the driver;

[0073] Furthermore, the driver guides the robot to accelerate from rest to V1 with a positive acceleration a1, as shown in formula (1); V1=a1T1#(1)

[0074] Where V1 is the robot speed during the guidance phase, a1 is the forward acceleration during the guidance phase, and T1 is the time taken for acceleration.

[0075] The forward direction is the direction in which the robot first moves toward the origin.

[0076] Furthermore, the robot drives towards the origin at a uniform speed V1 to complete the guidance process, and the real-time position of the robot relative to the initial position is shown in formula (2);

[0077] Where t1 is the time variable of the guidance phase, and X1(t1) is the real-time position of the robot relative to the initial position during the guidance phase.

[0078] (2) Positioning phase: When the robot passes the origin and detects the origin sensor signal, the system starts the range limit to detect whether the robot has left the range.

[0079] The interval limit is the sensing range of the positive and negative directions of the position of the origin sensor set by the user.

[0080] Furthermore, the robot reduces its velocity from V1 to 0 with a reverse acceleration of -a2, as shown in formula (3). At this time, the robot is at a position beyond the origin; 0 = V1 - a2T2#(3)

[0081] Wherein, -a2 is the reverse acceleration of deceleration during the positioning phase, and T2 is the time taken for deceleration.

[0082] The reverse direction is the opposite direction of the robot's first movement toward the origin.

[0083] Furthermore, the robot accelerates to V2 with the reverse acceleration -a3, as shown in formula (4); V2 = -a3T3#(4)

[0084] Among them, V2 is the speed of the robot during the positioning phase, a3 is the reverse acceleration of the positioning phase, and T3 is the time taken for acceleration.

[0085] Furthermore, the robot moves towards the origin at a uniform speed V2 to complete the positioning process. The real-time position X2(t2) of the robot relative to the origin is shown in formula (5);

[0086] Among them, t2 is the time variable of the positioning phase, and X2(t2) is the real-time position of the robot relative to the origin during the positioning phase.

[0087] (3) Compensation phase: When the robot passes the origin sensor for the second time, it decelerates to 0 with the positive acceleration a4, as shown in formula (6). At this time, the robot is between the origin and the initial position; 0 = V2-a4T4#(6)

[0088] Where a4 is the positive acceleration of the deceleration during the positioning phase, and T4 is the time taken for deceleration.

[0089] Furthermore, the robot accelerates to V3 with a positive acceleration a5 to compensate for the deviation, as shown in formula (7); V3=a5T5#(7)

[0090] Furthermore, the robot moves towards the origin at a constant speed until it passes the origin sensor for the third time, at which point the robot decelerates to a standstill, completing the compensation process.

[0091] Where V3 is the robot speed during the compensation phase, a5 is the forward acceleration during the acceleration phase, and T5 is the time taken for acceleration.

[0092] During the process of the homing positioning method, if the robot moves beyond the range of the interval limit, the controller sends a correction signal to guide the robot to find the origin position again. The interval limit can effectively prevent the robot from deviating from the target position during the homing process, thereby improving the accuracy and reliability of the homing positioning method. The above describes in detail the preferred specific embodiments of the present invention. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of existing technology should be within the scope of protection required by the claims of the present invention.

Claims

1. A tunnel intelligent inspection robot positioning device, characterized in that: It consists of a controller, an execution module and a feedback module; the controller directly controls the behavior of the execution module, the feedback module monitors the real-time position of the tunnel intelligent inspection robot and feeds back to the controller, and the controller receives and analyzes the data of the feedback module to calibrate the control of the execution module.

2. The positioning device for the intelligent tunnel inspection robot according to claim 1, characterized in that: The controller is a programmable logic controller with a built-in algorithm module for receiving and analyzing position data and sending the position pulse number of the target position, so as to realize efficient data processing and intelligent decision-making in the process of the movement of the tunnel intelligent inspection robot and determination of its real-time position; The execution module is composed of a driver and a motor, and the driver includes a position driver, a speed driver and a current driver; The driver is used to receive the operation instruction sent by the controller, decode it and send it to the motor, and drive the motor to run, so as to realize the movement of the tunnel intelligent inspection robot and determine its real-time position; The feedback module consists of two parts: an encoder positioning device and an RFID identification system.

3. The positioning device for the intelligent tunnel inspection robot according to claim 2, characterized in that: The encoder positioning device includes a pedometer wheel, a pedometer wheel base, a mounting plate, a connecting shaft, a key, a bearing, a shaft retaining spring, a hole retaining spring, a flexible coupling, an encoder, and an encoder flexible bracket; the pedometer wheel is connected to the connecting shaft via the key, and the shaft retaining spring is used for axial positioning; the two bearings are installed in the base of the pedometer wheel, and the outer side is axially positioned using the hole retaining spring; the connecting shaft passes through the bearing and is installed in the base of the pedometer wheel; the mounting plate is fixed to the base of the pedometer wheel via screws; one end of the flexible coupling is connected to the connecting shaft via a top screw. The pedometer wheel is connected to the trolley body through the pedometer wheel base, and the other end is connected to the encoder through the top screw. The encoder is installed on the encoder flexible bracket. The pedometer wheel rotates as the tunnel intelligent inspection robot moves, and is transmitted through the connecting shaft and the flexible coupling to the encoder. The encoder sends a signal to the controller, and the moving position of the tunnel intelligent inspection robot is obtained after decoding. The encoder positioning device is connected to the trolley body through the pedometer wheel base, and the encoder positioning device can provide real-time feedback of the real-time position of the tunnel intelligent inspection robot when it moves.

4. The positioning device for the intelligent tunnel inspection robot according to claim 3, characterized in that: The RFID identification system consists of a card reader and multiple electronic tags; the card reader is fixed to the upper part of the tunnel intelligent inspection robot by bolts, and the electronic tags are installed at different positions on the track according to the actual mileage, and the electronic tags have a unique number corresponding to the corresponding mileage. When the tunnel intelligent inspection robot moves, the card reader reads the number on the electronic tag, which is decoded by the controller to obtain the real-time position of the tunnel intelligent inspection robot.

5. A positioning method for a tunnel intelligent inspection robot, characterized in that: The positioning method includes a target positioning method and a return-to-origin positioning method, wherein the target positioning method is used for the positioning method of the tunnel intelligent inspection robot during its driving process, and the return-to-origin positioning method is used for the operation method of the tunnel intelligent inspection robot returning to the only origin from any position outside the origin.

6. The positioning method according to claim 5, characterized in that: The target positioning method is divided into two modes: encoder positioning mode and RFID recognition positioning mode. The operation of the encoder positioning mode includes: the controller calculates the number of position pulses of the target position according to the built-in algorithm and sends it to the driver, the driver automatically analyzes the number of position pulses and guides the motor to perform the corresponding position operation. During this process, the encoder returns the position data to the controller in real time, and the controller analyzes the position data returned by the encoder to correct the real-time position of the tunnel intelligent inspection robot and update and record the current position information; The operation of the RFID identification and positioning mode includes: the RFID identification system pre-writes the RFID tag information of all target points in the track. During the driving process of the tunnel intelligent inspection robot, when passing through the target point marked with an RFID tag, the tunnel intelligent inspection robot can automatically read the position information of the RFID tag and correct the current position to the tag position. After correction, the RFID identification system updates the current position information to the tag position and uses the corrected position as a reference for subsequent target positions.

7. The positioning method according to claim 6, characterized in that: The target positioning method adopts the RFID identification positioning mode in preference to the encoder positioning mode.

8. The positioning method according to claim 7, characterized in that: The return-to-origin positioning method is that the intelligent tunnel inspection robot detects signals through an origin sensor, which is divided into three stages: guidance stage, positioning stage, and compensation stage. The operations of the boot phase include: The tunnel intelligent inspection robot is at any position outside the origin. After receiving the return-to-origin instruction, the controller receives the position information transmitted by the encoder to obtain the real-time position of the tunnel intelligent inspection robot. The controller analyzes the position data and sends a direction signal pulse and a position pulse train to the driver; The driver guides the tunnel intelligent inspection robot to accelerate from rest to V1 with a positive acceleration a1, as shown in formula (1); V1=a1T1#(1) Wherein, V1 is the speed of the tunnel intelligent inspection robot in the guiding stage, a1 is the forward acceleration in the guiding stage, and T1 is the time taken for acceleration; the forward direction is the direction in which the tunnel intelligent inspection robot first moves toward the origin; The tunnel intelligent inspection robot drives towards the origin at a uniform speed V1 to complete the guidance process. The real-time position of the tunnel intelligent inspection robot relative to the initial position is shown in formula (2); Wherein, t1 is the time variable of the guiding stage, and X1(t1) is the real-time position of the tunnel intelligent inspection robot relative to the initial position during the guiding stage; The operations in the positioning phase include: The intelligent tunnel inspection robot passes through the origin and detects the origin sensor signal, and the RFID identification system starts the interval limit to detect whether the intelligent tunnel inspection robot leaves the range of the interval limit; the interval limit is the sensing range of the positive and negative directions of the location of the origin sensor set by the user; The tunnel intelligent inspection robot reduces its speed from V1 to 0 with a reverse acceleration of -a2, as shown in formula (3). At this time, the tunnel intelligent inspection robot is at a position beyond the origin; 0=V1-a2T2#(3) Wherein, -a2 is the reverse acceleration of deceleration in the positioning stage, T2 is the time taken for deceleration; the reverse direction is the opposite direction of the first movement of the tunnel intelligent inspection robot toward the origin; The tunnel intelligent inspection robot accelerates to V2 with a reverse acceleration of -a3, as shown in formula (4); V2=-a3T3#(4) Among them, V2 is the speed of the robot in the positioning stage, -a3 is the reverse acceleration of the acceleration in the positioning stage, and T3 is the time taken for acceleration; The tunnel intelligent inspection robot drives towards the origin at a uniform speed V2 to complete the positioning process. The real-time position X2(t2) of the tunnel intelligent inspection robot relative to the origin is shown in formula (5); Wherein, t2 is the time variable of the positioning stage, and X2(t2) is the real-time position of the tunnel intelligent inspection robot relative to the origin during the positioning stage; The operations of the compensation phase include: When the tunnel intelligent inspection robot passes the origin sensor for the second time, it decelerates to 0 with a positive acceleration a4, as shown in formula (6). At this time, the tunnel intelligent inspection robot is between the origin and the initial position; 0=V2-a4T4#(6) Among them, a4 is the positive acceleration of deceleration in the positioning stage, and T4 is the time taken for deceleration; The tunnel intelligent inspection robot accelerates to V3 with a forward acceleration a5 to perform deviation compensation, as shown in formula (7); V3=a5T5#(7) The intelligent tunnel inspection robot drives towards the origin at a constant speed until it passes the origin sensor for the third time, and then the intelligent tunnel inspection robot decelerates to a standstill, completing the compensation process; Among them, V3 is the speed of the robot in the compensation stage, a5 is the positive acceleration in the acceleration stage, and T5 is the time taken for acceleration.

9. The positioning method according to claim 8, characterized in that: During the process of the home-to-origin positioning method, if the intelligent tunnel inspection robot moves beyond the range of the interval limit, the controller sends a correction signal to guide the intelligent tunnel inspection robot to re-search for the position of the origin.

Images