阅读说明：本技术 一种轨道式巡检机器人导航定位模块及粗精复合定位方法 (Navigation positioning module of rail-mounted inspection robot and coarse-fine composite positioning method ) 是由 胡鹏博 程力 曹庆鹏 林俤 雷磊 刘晴 黄哲 陈浩 何卿 于琪 于 2020-12-28 设计创作，主要内容包括：本发明公开了一种轨道式巡检机器人导航定位模块及粗精复合定位方法,包括传感器模块、组合导航解算模块和电源模块,传感器模块、组合导航解算模块设于机器人本体中,通过控制中心控制机器人本体在管廊轨道中行进,通过传感器模块获取管廊轨道中定位孔信息,通过组合导航解算模块解算,控制中心确定机器人本体在管廊中的位置。本发明无需额外基站和无线设备,只需要在轨道上进行等间隔或不等间隔打孔,并在机器人上安装相应的光电传感器和MEMS惯性传感器即可,减小了使用和维护成本；能够获得机器人自身运动状态监测、轨道变形和管廊沉降数据；能够对轨道和管廊环境变化进行更多数据的监测。(The invention discloses a track type inspection robot navigation positioning module and a coarse and fine composite positioning method, which comprise a sensor module, an integrated navigation resolving module and a power supply module, wherein the sensor module and the integrated navigation resolving module are arranged in a robot body, the robot body is controlled to advance in a pipe gallery track through a control center, positioning hole information in the pipe gallery track is obtained through the sensor module, the integrated navigation resolving module resolves, and the control center determines the position of the robot body in a pipe gallery. According to the invention, no additional base station and wireless equipment are needed, only equal-interval or unequal-interval punching is needed on the track, and the corresponding photoelectric sensor and the MEMS inertial sensor are installed on the robot, so that the use and maintenance cost is reduced; the motion state monitoring, track deformation and pipe gallery settlement data of the robot can be obtained; the monitoring of more data can be carried out to track and piping lane environmental change.)

1. The utility model provides a robot navigation orientation module is patrolled and examined to rail mounted which characterized in that includes:

the sensor module is used for identifying a positioning hole in the pipe gallery track through a photoelectric sensor, sensing attitude change information of the robot body on the track through an MEMS inertial sensor, acquiring relative movement information of the robot body through a milemeter, and transmitting the acquired information to the combined navigation resolving module;

the integrated navigation resolving module is used for resolving data of the sensors, fusing the data and transmitting the resolved navigation data to an external control center;

the power supply module is used for supplying power to the robot body;

the sensor module, the combined navigation resolving module are arranged in the robot body, the robot body is controlled by the control center to advance in the pipe gallery track, the sensor module is used for acquiring the information of the positioning holes in the pipe gallery track, the combined navigation resolving module is used for resolving, and the control center determines the position of the robot body in the pipe gallery.

2. The track type inspection robot navigation and positioning module according to claim 1, wherein the robot body comprises a traveling wheel, a sensor module, a power module and a combined navigation resolving module, the sensor module comprises an MEMS (micro-electromechanical systems) inertial sensor, a speedometer and a photoelectric sensor, the speedometer is arranged on the traveling wheel, and the traveling wheel is hung on a pipe gallery track; be equipped with the locating hole on the pipe gallery track, photoelectric sensor locates on the robot base, is located between the walking wheel of pipe gallery track both sides.

3. The track type inspection robot navigation and positioning module according to claim 1, wherein the photoelectric sensor comprises a light emitting diode and a photoelectric detector, the light emitting diode is arranged on one side of the pipe rack track, and the photoelectric detector is arranged on the other side of the pipe rack track and used for identifying the positioning hole on the pipe rack track.

4. The track type inspection robot navigation and positioning module according to claim 1, wherein the integrated navigation resolving module comprises a DSP core circuit, a memory and a serial port communication module, and the photoelectric sensor and the odometer are respectively connected with the DSP core circuit through a cap1 port and a cap2 port; the MEMS inertial sensor is connected with the DSP core circuit through an extended serial port; the DSP core circuit is connected with an external circuit through a serial port.

5. A coarse and fine navigation composite positioning method for a rail-mounted inspection robot based on the module of any one of claims 1-4 is characterized by comprising the following steps: roughly positioning an attitude sequence calculated by the MEMS inertial sensor and finely positioning the photoelectric sensor through a track hole site:

a. track punching: punching holes at equal intervals on each section of track, and calibrating the position coordinates of hole sites;

b. operation and calibration:

the MEMS inertial sensor collects attitude information (alpha) including azimuth, pitch and roll of the robot body at intervals of odometer distance delta L_i,β_i,γ_i) (ii) a The attitude information of the robot body is modulated by the track inclination state, and an attitude sequence formed by modulation is stored in a robot memory; the attitude sequence obtained during calibration corresponds to the calibration point positions one by one;

c. pose sequence information collection

After calibration is completed, in the actual operation process, acquiring the azimuth, pitch and roll sequences of the current position at equal intervals of delta L through the MEMS inertial sensor;

d. coarse matching positioning of attitude sequence

The real-time attitude sequence of the demodulated MEMS inertial sensor is matched with an attitude sequence stored during calibration to perform coarse positioning, positioning hole photoelectric signals of each section of track are used for performing accurate positioning, and the accumulated error of the odometer is corrected in a coarse and fine composite positioning mode to obtain the absolute movement position information of the robot body;

e. precise matching and positioning of photoelectric sensor

When the calibration is carried out, every time the calibration passes through one positioning hole, the pulse position signal output by the photoelectric sensor corresponds to the waveform of the attitude sequence after low-pass filtering;

residual error Δ L after coarse matching of pose sequence₁Under the condition that the hole punching interval is far smaller than the hole punching interval, the position of a hole position corresponding to a photoelectric pulse signal obtained by the robot body is precisely matched and positioned;

f. position correction

After the first matching is completed, the robot body is positioned at a specific position on the pipe gallery track, and the accumulated output position and the calibration position of the robot body are compared through the photoelectric detector and the odometer after the robot body runs to the next positioning hole to obtain the accumulated error delta L_iAfter the robot reaches the photoelectric positioning hole, the absolute position of the robot body is corrected to be the calibration position of the photoelectric positioning hole, so that the error delta L is eliminated_iThe influence of (c).

6. The coarse and fine navigation composite positioning method for the rail-mounted inspection robot according to claim 5, wherein the coarse matching positioning step for the attitude sequence is as follows:

setting the stored low-pass filtered calibration attitude pitch data as S₁The azimuth data and the roll data are S₂And S₃The size is Mx 1; the real-time movement pitch data bit of the robot body is T₁The size is Nx 1, and the azimuth data and the roll data are T respectively₂And T₃The pitch matching similarity is as follows:

in the above formula, R₁(i) Similarity when matching the latest sampled pitch data to the ith stored calibration data point, S_1,i(j) Storing the ith stored calibration point in the calibration data for the pitch, the jth point, T, corresponding to the latest sampled data₁(j) The j point of the latest sampling data segment;

obtaining the orientation similarity R₂(i) Degree of similarity to roll R₃(i) The overall similarity is shown as follows:

wherein, the position with the maximum similarity is the rough positioning position of the matched robot body, i is 1.

7. The coarse and fine navigation composite positioning method for the rail-mounted inspection robot according to claim 5, wherein the system performs attitude data (S) on the robot body in the operation process of the robot body₁,S₂,S₃) And adding data (a)₁,a₂,a₃) Continuously collecting and storing the data in a monitoring center, carrying out wavelet transformation analysis on the posture and counting data of the robot body after each inspection by the monitoring center, and comparing historical analysisAnd data, diagnosing track inclination, track foreign matters, mechanical faults of the robot and abrasion state information of walking wheels of the robot body, and maintaining the track and the robot body.

Technical Field

The invention belongs to the technical field of navigation and positioning, and relates to a method for performing combined positioning and navigation by using a photoelectric label and an MEMS (micro-electromechanical systems) inertial sensor.

Background

In the running process of the inspection robot for the pipe gallery in China, the accurate positioning of the robot is always one of the core contents, and the excellent positioning scheme can effectively improve the inspection efficiency and accuracy.

Conventional track robot patrols and examines, mainly leans on the odometer to carry out relative position location, because the odometer can produce accumulative total error, still need lean on outside supplementary wireless tags to carry out absolute position calibration. Common calibration mode has UWB wireless location mode and RFID label locate mode, and wherein UWB positioning accuracy is about 0.1m, and the wireless basic station that needs in the piping lane possesses UWB locate function, and RFID passive label positioning accuracy is higher, can reach 0.02m, but needs an RFID label of every section track arrangement, still needs special card reading equipment.

Traditional piping lane patrols and examines robot need rely on above-mentioned basic station or a large amount of RFID label to carry out assistance-localization real-time when the walking, has increased use and maintenance cost, and on the other hand, traditional piping lane patrols and examines robot also lack the observation data that self mechanical motion state and track slope subsided, therefore intelligent failure diagnosis technique also is the future development direction of piping lane patrols and examines robot.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide a combined navigation method suitable for a track type inspection robot in a pipe gallery. The method comprises the steps of performing coarse and fine combined positioning by adopting a photoelectric/odometer/MEMS inertial navigation combination, obtaining accurate motion position and attitude information of the inspection robot, recording and storing a robot attitude sequence obtained by an MEMS sensor during calibration, recording a section of real-time attitude sequence during actual operation, matching the recorded robot attitude sequence with the stored sequence after low-pass filtering, performing coarse positioning on the inspection robot, and performing fine positioning on the inspection robot through a track hole position by using the photoelectric sensor to obtain accurate absolute position information. Finally, the improved sensor is combined to carry out photoelectric/odometer/MEMS combined navigation. The self mechanical motion state diagnosis information of the robot and the information of deformation, settlement and the like of the pipe gallery track can be obtained through wavelet analysis of the gyro and the adding sampling data of the MEMS sensor.

The invention is realized by the following technical scheme.

The utility model provides a robot navigation orientation module is patrolled and examined to rail mounted, includes:

the sensor module is used for identifying a positioning hole in the pipe gallery track through a photoelectric sensor, sensing attitude change information of the robot body on the track through an MEMS inertial sensor, acquiring relative movement information of the robot body through a milemeter, and transmitting the acquired information to the combined navigation resolving module;

the integrated navigation resolving module is used for resolving data of the sensors, fusing the data and transmitting the resolved navigation data to an external control center;

the power supply module is used for supplying power to the robot body;

the sensor module, the combined navigation resolving module are arranged in the robot body, the robot body is controlled by the control center to advance in the pipe gallery track, the sensor module is used for acquiring the information of the positioning holes in the pipe gallery track, the combined navigation resolving module is used for resolving, and the control center determines the position of the robot body in the pipe gallery.

With respect to the above technical solutions, the present invention has a further preferable solution:

preferably, the robot body comprises a travelling wheel, a sensor module, a power supply module and a combined navigation resolving module, wherein the sensor module comprises an MEMS (micro-electromechanical systems) inertial sensor, a speedometer and a photoelectric sensor, the speedometer is arranged on the travelling wheel, and the travelling wheel is hung on the pipe gallery track; be equipped with the locating hole on the pipe gallery track, photoelectric sensor locates on the robot base, is located between the walking wheel of pipe gallery track both sides.

Preferably, photoelectric sensor includes emitting diode and photoelectric detector, and emitting diode is in pipe gallery track one side, and photoelectric detector is at pipe gallery track opposite side for discern the locating hole on the pipe gallery track.

Preferably, the integrated navigation resolving module comprises a DSP core circuit, a memory and a serial port communication module, wherein the photoelectric sensor and the odometer are respectively connected with the DSP core circuit through a cap1 port and a cap2 port; the MEMS inertial sensor is connected with the DSP core circuit through an extended serial port; the DSP core circuit is connected with an external circuit through a serial port.

The invention further provides a navigation coarse-fine composite positioning method of the rail type inspection robot, which comprises the following steps: roughly positioning an attitude sequence calculated by the MEMS inertial sensor and finely positioning the photoelectric sensor through a track hole site:

a. track punching: punching holes at equal intervals on each section of track, and calibrating the position coordinates of hole sites;

b. operation and calibration:

the MEMS inertial sensor collects attitude information (alpha) including azimuth, pitch and roll of the robot body at intervals of odometer distance delta L_i,β_i,γ_i) (ii) a The robot body attitude information is stored in a robot memory by an attitude sequence modulated by the track inclination state; the attitude sequence obtained during calibration corresponds to the calibration point positions one by one;

c. pose sequence information collection

After calibration is completed, in the actual operation process, acquiring the azimuth, pitch and roll sequences of the current position at equal intervals of delta L through the MEMS inertial sensor;

d. coarse matching positioning of attitude sequence

The real-time attitude sequence of the demodulated MEMS inertial sensor is matched with an attitude sequence stored during calibration to perform coarse positioning, positioning hole photoelectric signals of each section of track are used for performing accurate positioning, and the accumulated error of the odometer is corrected in a coarse and fine composite positioning mode to obtain the absolute movement position information of the robot body;

e. precise matching and positioning of photoelectric sensor

When the calibration is carried out, every time the calibration passes through one positioning hole, the pulse position signal output by the photoelectric sensor corresponds to the waveform of the attitude sequence after low-pass filtering;

residual error Δ L after coarse matching of pose sequence₁Under the condition that the hole punching interval is far smaller than the hole punching interval, the position of a hole position corresponding to a photoelectric pulse signal obtained by the robot body is precisely matched and positioned;

f. position correction

After the first matching is finished, the robot body is positioned at a specific position on the track, and after the robot body runs to the next positioning hole, the accumulated output position of the photoelectric detector and the odometer is compared with the calibration position to obtain an accumulated error delta L_iAfter the robot reaches the photoelectric positioning hole, the absolute position of the robot body is corrected to be the calibration position of the photoelectric positioning hole, so that the error delta L is eliminated_iThe influence of (c).

Preferably, the coarse matching and positioning steps for the gesture sequence are as follows:

setting the stored low-pass filtered calibration attitude pitch data as S₁The azimuth data and the roll data are S₂And S₃The size is Mx 1; the real-time movement pitch data bit of the robot body is T₁The size is Nx 1, and the azimuth data and the roll data are T respectively₂And T₃Then, the pitch matching similarity is:

in the above formula, R₁(i) Similarity when matching the latest sampled pitch data to the ith stored calibration data point, S_1,i(j) Storing a scalar number for pitchThe jth point, T, corresponding to the latest sampled data from the ith stored calibration point₁(j) The j point of the latest sampling data segment;

similarly, the orientation similarity R can be obtained₂(i) Degree of similarity to roll R₃(i) The overall similarity is shown as follows:

wherein, the position with the maximum similarity is the rough positioning position of the matched robot, i is 1.

Preferably, the system is used for carrying out attitude data (S) on the robot body during the operation process of the robot body₁,S₂,S₃) And adding data (a)₁,a₂,a₃) Continuously collecting and storing the data to a monitoring center, carrying out wavelet transformation analysis on the posture and counting data of the robot body after each inspection by the monitoring center, comparing historical analysis data, diagnosing track inclination, track foreign matters, mechanical faults of the robot and abrasion state information of walking wheels of the robot body, and maintaining the track and the robot body.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

according to the invention, no additional base station or wireless equipment is needed, only equal-interval or unequal-interval punching is needed on the track, and the corresponding photoelectric sensor and the MEMS inertial sensor are installed on the robot, so that the hole position and track attitude data are calibrated in advance when the robot is used for the first time, and the use and maintenance cost is reduced.

The invention adopts the photoelectric/odometer/MEMS combined navigation, can obtain the accurate position and posture information of the inspection robot, and can obtain the motion state monitoring, the track deformation and the pipe gallery settlement data of the robot compared with the traditional robot which can only carry out single positioning. The monitoring of more data can be carried out to track and piping lane environmental change.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:

FIG. 1 is a hierarchical diagram of the components of a combined navigation module;

FIG. 2 is a basic hardware component of the integrated navigation module;

FIG. 3 shows the installation positions of the inspection robot and the photoelectric sensor for the pipe gallery;

FIG. 4 is a schematic diagram of a photosensor;

FIG. 5 is a process of pose sequence matching positioning;

FIG. 6 is a MEMS inertial sensor signal processing process;

fig. 7 is a diagram of a fine match location process.

In the figure: 1. a pipe gallery rail; 2. a photodetector; 3. positioning holes; 4. a light emitting diode; 5. a traveling wheel; 6. a MEMS inertial sensor; 7. a combined navigation resolving module; 8. and a power supply module.

Detailed Description

The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.

As shown in fig. 1, the navigation and positioning module of the rail-mounted inspection robot of the invention comprises: the sensor module comprises a plurality of sensors, specifically comprises an MEMS (micro-electromechanical systems) inertial sensor, a milemeter and a photoelectric sensor, and transmits acquired information to the integrated navigation resolving module through a plurality of sensor identification pipe gallery track positioning holes.

The combined navigation resolving module is mainly composed of a DSP core circuit, a storage and a serial port communication module and used for resolving data of the sensor, data fusion is carried out, the resolved navigation data are sent to an external control center through an RS232 port of the serial port communication module, a pipe gallery map is stored in the external control center, and the pipe gallery map can be matched with the navigation data to display the position of a vehicle.

And the power supply module is mainly used for supplying power to the equipment. The level conversion from 5V to 3.3V, from 5V to 1.8V and from 5V to 1.3V can be realized.

As shown in fig. 2, the sensor module and the integrated navigation resolving module are arranged in the robot body, the robot body is controlled by the control center to advance in the pipe gallery track, the sensor module is used for acquiring the information of the positioning holes, the integrated navigation resolving module is used for resolving, and the control center determines the position of the robot body in the pipe gallery.

As shown in fig. 2, the track type inspection robot navigation positioning module provided by the invention is used as a component of a pipe gallery inspection robot and is arranged on a robot body, and the robot body is internally provided with a traveling wheel 5, a sensor module, a power supply module 8 and a combined navigation resolving module 7. The mounting position of each sensor module in the robot is shown in fig. 2. The mileage meter is arranged on a travelling wheel 5, and the travelling wheel 5 is hung on the pipe gallery track 1; be equipped with locating hole 3 on the pipe gallery track 1, photoelectric sensor includes emitting diode 4 and photoelectric detector 2, and photoelectric detector 2 and emitting diode 4 are located respectively on the robot base, are located between 1 both sides walking wheel 5 of pipe gallery track.

The MEMS inertial sensor 6, the power supply module 8 and the combined navigation resolving module 7 are respectively arranged on a base of the robot body, and the MEMS inertial sensor 6 is used for sensing attitude and position information of the robot. The MEMS inertial sensor comprises a triaxial MEMS gyroscope, a triaxial MEMS accelerometer, a magnetometer and the like, information such as triaxial angular rate, acceleration, magnetic heading and the like of the navigation module can be obtained, sensor information is sent to the DSP through the RS232 expansion serial port, and position, speed and attitude information of the carrier can be obtained through navigation calculation.

As shown in fig. 3, the photo-sensor 2 is partly led on one side of the track for providing a light source, and the photo-detector 2 is on the other side of the track for detecting light from the led 4 through the hole of the track. When the hole position of the track does not appear, the light emitted by the diode is shielded by the track, the detector outputs a low level signal, when the robot runs, the hole position is positioned between the light emitting diode and the photoelectric detector, and the photoelectric detector receives the light of the light emitting diode and outputs a high level. And under the condition of continuous operation of the inspection robot, the photoelectric detector outputs a pulse signal.

The photoelectric sensor outputs a pulse signal when passing through the hole of the track, the signal is transmitted to the DSP, the DSP can calculate the distance between two pulse signals (corresponding to two holes on the track) by combining with the odometer information, and a series of distance information is stored in the database.

The odometer is used for calculating the walking mileage of the robot during movement. The odometer can output corresponding pulses to the DSP along with the rotation of the travelling wheel 5, and the DSP can calculate the mileage of the inspection robot according to the accumulated pulse number and the radius of the travelling wheel.

The connection relationship between the modules is shown in fig. 4. The power module is the sensor module and is combined the navigation and calculate the module power supply, and the photoelectric sensor signal catches mouthful and is connected with DSP through DSP's cap1, and when patrolling and examining the robot body and passing through the hole site on the track, the pulse of photoelectric sensor output is received by DSP, produces corresponding cap and catches the interrupt, and DSP can carry out relative position according to the demarcation position of storage and interrupt signal to the mileage that the odometer produced and correct. The odometer is connected with the DSP through a cap2 capturing port of the DSP, pulses output by the odometer are captured and counted by the DSP along with the rotation of the travelling wheel, and the travelling mileage of the robot body is calculated by combining the radius of the travelling wheel. The MEMS inertial sensor is connected with the DSP through an RS232 expansion serial port, and the sensed information of the triaxial angular rate, the acceleration, the magnetic heading and the like is sent to the DSP for resolving.

The effects of the present invention will be described below by the method of the present invention.

Under the condition that the robot body moves rapidly and the walking wheels slip, the matching accuracy is reduced, and the conditions such as mismatching and the like are possibly caused, so that the improved method adopts a mode that an attitude sequence calculated by an MEMS inertial sensor is adopted for rough positioning, and then a photoelectric sensor is adopted for fine positioning through a track positioning hole.

As shown in fig. 5, the operation process of the method includes: the method comprises the following steps of track punching, robot body operation calibration, attitude sequence information acquisition, attitude sequence coarse matching, photoelectric sensor fine matching and position correction.

a. Track punching

In order to facilitate the processing of the tracks and keep consistency, holes can be punched at fixed positions of each section of track, namely holes are punched at equal intervals, and hole position calibration is carried out in advance.

b. Operation calibration

The MEMS inertial sensor measures the attitude (alpha, beta, gamma) of the inspection robot body in the operation process, including azimuth, pitch and roll, and acquires the attitude information (alpha) of the robot body at intervals of a milemeter distance delta L_i,β_i,γ_i) And the track is laid without being completely horizontal, so that the attitude information of the robot body can be modulated by the track inclination state, and after the initial full-section calibration is completed, the attitude sequence of the modulated robot body can be stored in the robot memory.

c. Pose sequence information collection

After calibration is completed, the inspection operation is started, and in the operation process of the inspection robot body, the azimuth, the pitching and the rolling sequence of the current position are acquired at equal intervals delta L through the MEMS inertial sensor.

d. Coarse matching positioning of attitude sequence

The signal processing process is as shown in fig. 6, in the combined positioning process, the demodulated signals of the MEMS inertial sensors are matched to perform coarse positioning, the photoelectric signals of the positioning holes of each track are used to perform accurate positioning, and the accumulated error of the odometer is corrected by adopting the coarse and fine combined positioning mode to obtain the absolute movement position information of the robot body. The coarse matching positioning of the gesture sequence is described in detail below.

Setting stored low pass filtered calibration attitude data S₁The size of (pitch data) is Mx 1, and the azimuth data and roll data are S, respectively₂And S₃The size is also M × 1. Newly sampled low pass filtered robot real-time motion pitch data bit T₁The size is Nx 1, and the latest sampling azimuth data and the latest sampling roll data are respectively T₂And T₃Taking pitch data matching as an example. Its pitch matching similarity can be described as:

in the above formula, R₁(i) Matching the latest sampled pitch data to the ith stored calibration data pointSimilarity of time, S_1,i(j) Storing the ith stored calibration point in the calibration data for the pitch, the jth point, T, corresponding to the latest sampled data₁(j) The j-th point of the latest sampled data segment.

The same method can be used to obtain the orientation similarity R₂(i) Degree of similarity to roll R₃(i) The overall similarity is shown as follows:

and calculating all R (i), i is 1, M-N +1, and the position with the maximum similarity is the rough positioning position of the matched robot body.

e. Precise matching and positioning of photoelectric sensor

When the calibration is carried out, every time the calibration passes through one positioning hole, the pulse position signal output by the photoelectric sensor corresponds to the waveform of the attitude sequence after low-pass filtering. The initial calibration of the absolute position of the track hole site is confirmed.

Residual error Δ L after coarse matching of pose sequence₁Under the condition that the hole punching interval is far smaller than the punching interval, after rough matching is completed, the position of a hole position corresponding to a photoelectric pulse signal obtained by the inspection robot body is uniquely determined, and fine matching positioning is completed at the moment. As shown in fig. 7.

f. Position correction

After the first matching is finished, the inspection robot body is positioned at a specific position on the track, the inspection robot body runs to the next hole site and then is subjected to photoelectric detection, the accumulated output position of the odometer is compared with the calibration position, and an accumulated error delta L is generated_iAfter the position reaches the photoelectric hole position, the absolute position of the robot body is corrected to be the photoelectric positioning hole calibration position, so that the error delta L is eliminated_iThe influence of (c).

In addition, the system can perform attitude data (S) on the robot body in the running process of the robot body₁,S₂,S₃) And adding data (a)₁,a₂,a₃) Continuously collecting and storing the data in a monitoring center, wherein the operation and maintenance software of the monitoring center can inspect the data after each inspectionThe robot posture and the counting data are subjected to wavelet transformation analysis, historical analysis data are compared, and state information such as track inclination, track foreign matters, mechanical faults of the robot body, abrasion of travelling wheels of the robot body and the like can be diagnosed, so that the track and the robot body can be maintained in time.

The navigation positioning module and the method of the rail-mounted inspection robot adopt the attitude sequence and photoelectric coarse and fine composite positioning. Compared with a wireless positioning mode and an RFID label positioning mode, the method has the advantages that the hole position spacing matching positioning is carried out by adopting the pseudo-random codes, or the coarse positioning is carried out by adopting the signal matching of the MEMS inertial sensor, the accurate positioning is carried out by adopting the hole position photoelectric signal of each section of track, extra auxiliary labels and base stations are not needed, the cost is saved, and the reliability is high. After the MEMS inertial sensor is integrated, attitude information, vibration information and track inclination information in the motion process of the robot body can be collected, and fault diagnosis and maintenance of the robot are facilitated.

The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.