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Robot map building method suitable for large-scale transformer substation environment

A technology for map creation and robotics, applied in directions such as navigation computing tools, can solve problems such as SLAM algorithm failure in mapping, and achieve the effect of reducing the probability of failure in mapping

Inactive Publication Date: 2017-08-18
HANGZHOU SHENHAO TECH
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the existing SLAM algorithm fails to build a map in a large-scale environment, and to provide a robot map creation method suitable for a large-scale substation environment

Method used

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  • Robot map building method suitable for large-scale transformer substation environment
  • Robot map building method suitable for large-scale transformer substation environment
  • Robot map building method suitable for large-scale transformer substation environment

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Embodiment Construction

[0044] The platform robot used in this embodiment must have a motion control system, an inertial navigation system, and a laser scanning sensor, and the software system used is a robot operating system (ROS), including the following steps:

[0045] 1) Open the robot in a new unknown environment, and start the motion control node, laser node and handle control node under ROS. The motion control node will publish the odometer data to the / odom topic (odometer topic), and the laser node will publish the laser Data to the / scan topic (laser topic), the handle control node can issue speed instructions according to the handle operation, and the motion control node receives the instruction and controls the movement of the robot;

[0046] 2) Start the command to record data in the rosbag function package, record the odometer message published to the / odom topic (odometer topic) and the laser message published to the / scan topic (laser topic); the Rosbag function package is a function p...

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Abstract

The invention discloses a robot map building method suitable for a large-scale transformer substation environment. A particle filter algorithm is used for building a map, discrete particles are used for approximating posterior probability distribution of a robot posture, each particle independently maintains a map of the transformer substation, for the problem of large calculation amount and insufficient power of the robot, an SLAM algorithm is optimized, a rosbag software package based on ROS is combined to be changed, only speedometer and laser data packets are recorded in the field of the transformer substation, if the power of the robot is used up in the process, the robot can be restarted after being charged, data of the transformer substation can be stored as a plurality of data packets, the speedometer among the data packets is unnecessarily continuous, and after the data packets are completely recorded, the map is built in a way of playing back the data packets by virtue of rosbag. By adopting the method, a high-precision raster map of a large-scale transformer substation environment can be built, and the probability of map building failure caused by the positioning mistake can be reduced.

Description

technical field [0001] The invention belongs to the technical field of robot mapping, in particular to a method for creating a robot map suitable for a large-scale substation environment. Background technique [0002] The inspection of substation equipment provides basic guarantee for the safe operation of substations, and the stable and safe operation of substations is an important condition for people's daily life and normal industrial production. With the improvement of substation automation level, the reliable operation of substation equipment is facing more severe tests. Due to the complexity of substation inspection tasks, at present, the inspection of substation equipment is mainly carried out by staff with the help of some testing equipment. The main work of inspectors is to record a large number of instrument readings in the station and measure the temperature of specific areas. Due to the influence of uncertain factors such as the labor intensity of the operator an...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 宋建涛陈如申黎勇跃
Owner HANGZHOU SHENHAO TECH
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