Two-dimensional laser radar calibration device and method for positioning and navigation of substation inspection robot
A technology of two-dimensional laser radar and inspection robot, which is applied in the direction of instruments and radio wave measurement systems, can solve the problems of difficult calibration of laser sensors, achieve the effect of reducing the error of calibration results and simple equipment
Active Publication Date: 2018-12-04
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 device and method for positioning and navigation of a substation inspection robot, which includes a mobile platform with a walking mechanism. The laser radar of the distance information of the obstacle relative to its detection center, the laser light source that can vertically illuminate the ground is symmetrically arranged on both sides of the position passing through the center of the laser radar and perpendicular to the axis line of the mobile platform on the mobile platform, and ensures that the two The laser light source is symmetrical to the lidar detection center, and the internal and external measurement values of the sensor for the vertical distance between the lidar detection center and the surface of the selected obstacle can be obtained by using a simple geometric relationship.
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