Two-dimensional laser radar calibration apparatus and method for positioning and navigation of substation tour inspection robot
A two-dimensional laser radar, inspection robot technology, applied in instruments, radio wave measurement systems, etc., can solve problems such as difficult calibration of laser sensors, and achieve the effect of reducing calibration result errors and simple equipment
Active Publication Date: 2017-04-05
STATE GRID INTELLIGENCE TECH CO LTD
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[0006] (2) Generally, the laser calibration method described in the above literature generally needs to be carried out with the help of specific equipment in the laboratory, so the calibration of the laser sensor is difficult to carry out on-site in the robot operating environment
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0034] A two-dimensional laser radar calibration device for substation inspection robot positioning and navigation, such as figure 1 As shown, it includes the laser radar to be calibrated, the mobile platform and the auxiliary positioning device.
[0035] The laser radar to be calibrated is a two-dimensional laser radar, which can detect the distance information of the obstacle in the fan-shaped area of the plane relative to its detection center at fixed angle intervals;
[0036] The mobile platform can directly select a robot body or other customized platform structure, on which a laser radar to be calibrated and an auxiliary positioning device are fixedly installed;
[0037] The auxiliary positioning device refers to the structure disclosed in the patent "ZL201320006110.X", in which the two ends of the support are respectively installed with laser ...
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The invention discloses a two-dimensional laser radar calibration apparatus and method for positioning and navigation of a substation tour inspection robot. The apparatus comprises a moving platform with a travelling mechanism, the axis of the moving platform is provided with a laser radar for detecting distance information of an obstacle in a plane sector area relative to the detection center thereof with a fixed angle at intervals, laser light sources capable of irradiating the ground in a vertical manner are arranged on the moving platform in symmetry at two sides of the position vertical to the axis of the moving platform and penetrating through the center of circle of the laser radar, the two laser light sources are in symmetry centering on the detection center of the laser radar, and sensor internal and external measuring values for the vertical distance between the detection center of the laser radar and the surface of the selected obstacle required by calculation of calibration parameters can be obtained by employing a simple geometric relation.
Description
technical field [0001] The invention relates to a two-dimensional laser radar calibration device and method for positioning and navigation of a substation inspection robot. Background technique [0002] The substation inspection robot is a ground mobile robot that operates fully autonomously. It can carry sensors such as visible light cameras, infrared thermal imaging cameras, and pickups to conduct automatic inspections of power equipment, effectively reducing the labor intensity of manual inspections and ensuring the safety of substation equipment. run. [0003] At present, the trackless positioning and navigation technology based on laser radar has been widely used in inspection robots. This technology generally uses two-dimensional laser radar to detect the distance and orientation information of obstacles around the robot relative to its detection center point, and uses this information Build an electronic map of the robot's operating environment; then match the curren...
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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 肖鹏王海鹏李荣李红梅李建祥慕世友栾贻青李超英傅孟潮任志刚王兴照吕俊涛慈文斌李华东
Owner STATE GRID INTELLIGENCE TECH CO LTD