The invention discloses a tunnel robot positioning method, system and device and a storage medium, and the method comprises the steps: responding to a received tunnel inspection request, and determining a tunnel robot corresponding to the tunnel inspection request; driving the tunnel robot to travel along a preset sliding line through the sliding wheels; reading the ID number of each RFID combination at a preset distance threshold through an RFID card reader, and obtaining and storing position information corresponding to the ID number; calculating an optimal estimation value corresponding to the current label point according to the ID number and the position information corresponding to the ID number, and adjusting the wheel type odometer; and acquiring current position information corresponding to the tunnel robot through a wheel type odometer. The technical problems that an existing robot cannot accurately recognize the current position in the inspection process, and it is difficult to provide the specific position for workers to enter for maintenance are solved. The tunnel robot is adopted to accurately position the positioning information of any position in the tunnel, and workers can conveniently carry out maintenance according to the positioning information.
本发明公开了一种隧道机器人定位方法、系统、设备和存储介质,本发明包括响应接收到的隧道巡检请求,确定隧道巡检请求对应的隧道机器人;通过滑动轮驱动隧道机器人沿预设滑行线路行驶;通过RFID读卡器在预设距离阈值读取各个RFID组合的ID编号,获取ID编号对应的位置信息并存储;根据ID编号以及ID编号对应的位置信息计算当前标签点对应的最优估计值,并调节轮式里程计;通过轮式里程计获取隧道机器人对应的当前位置信息。解决了现有的机器人在巡检过程中未能准确识别到当前的位置,难以提供具体位置以供工作人员进入维修的技术问题。本发明采用隧道机器人准确定位隧道内任意位置的定位信息,方便工作人员按照定位信息进入维修。
Tunnel robot positioning method, system and device and storage medium
一种隧道机器人定位方法、系统、设备和存储介质
2023-05-26
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01R Messen elektrischer Größen , MEASURING ELECTRIC VARIABLES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA |
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