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Petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision

A technology of inspection robots and GPS modules, applied in navigation, surveying and navigation, navigation computing tools, etc.

Active Publication Date: 2020-10-02
SOUTHWEST PETROLEUM UNIV
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Problems solved by technology

[0010] In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision, so as to realize the seamless and precise positioning of the petrochemical inspection robot when it operates in various complex environments. Ensure fast and accurate positioning during the inspection process

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  • Petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision
  • Petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision
  • Petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision

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Embodiment Construction

[0047] Attached below figure 1 , 2 The positioning method of the present invention will be further described.

[0048] Based on the positioning method of the above-mentioned navigation and positioning system, its specific implementation steps are as follows:

[0049] Step S1, when the inspection robot starts up and starts working normally, initialize the robot status and the measurement information of GPS module 1, 5G module 2 and vision module 3 ,in k represents discrete time, in, when i =1, 2, and 3 respectively represent the measurement information of GPS module 1, 5G module 2, and vision module 3;

[0050] Step S2, during the normal operation of the robot, the GPS module 1 automatically collects GPS measurement information at a specific frequency during the normal operation of the petrochemical inspection robot and transmits it to the GPS judgment module 5, and the GPS judgment module 5 judges whether the measurement information is Effective; 5G module 2 automatica...

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Abstract

The invention relates to a petrochemical inspection robot navigation and positioning method based on GPS, 5G and vision. Seamless and accurate positioning of an inspection robot during operation in various complex environments is realized. The technical scheme is as follows: a system is composed of a GPS module, a 5G module, a vision module, a speedometer module, a judgment module, a filter, an environment feature map, a distributed fusion module and a fusion information positioning module. The method comprises steps: establishing a robot error model and a measurement model by using a parallelimplicit equal-weight particle filter positioning algorithm; updating each particle by adjusting two parameters alpha and beta, obtaining and transmitting local state estimation and local covarianceto a corresponding distributed multi-sensor fusion module, adopting the fusion information positioning module to carry out combined state estimation by using the optimal information fusion criterion,and deciding global optimal state estimation. The 5G technology is integrated, multi-sensor data fusion is adopted, the time delay is short, the precision is high, and the application scene of the inspection robot is expanded.

Description

technical field [0001] The invention relates to a navigation and positioning method for a petrochemical inspection robot based on GPS, 5G and vision, and belongs to the field of robot navigation and positioning. Background technique [0002] With the development of the current society and the advancement of technology, robot automatic inspection technology has been unprecedentedly developed and widely used. Automatic inspection technology is required in many occasions, such as petrochemical plants, oil fields, natural gas stations, oil transportation stations, etc. These places have the characteristics of large working area, complex working environment, and difficult investigation of various safety hazards, which bring great difficulty and intensity to manual inspection. Not only that, the traditional manual inspection is not only inefficient and heavy workload, but also has certain dangers in some specific occasions due to the existence of uncertain factors. On the one ha...

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Application Information

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IPC IPC(8): G01C21/20G01D21/02
CPCG01C21/206G01D21/02
Inventor 赖欣张晨蕾江红李奥华李嘉禾王森王宝宝谈峻菡
Owner SOUTHWEST PETROLEUM UNIV
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