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Autonomous planning method for nuclear radiation detection path of mobile robot in unfamiliar indoor scene

A mobile robot and global path planning technology, applied in the field of nuclear radiation detection, to achieve full coverage and real-time obstacle avoidance

Active Publication Date: 2017-11-07
NANHUA UNIV
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Problems solved by technology

[0004] However, there is currently a lack of a reliable indoor scene localization method (including robot state estimation and environment map construction) in the field of mobile robot nuclear radiation detection.

Method used

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  • Autonomous planning method for nuclear radiation detection path of mobile robot in unfamiliar indoor scene

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Embodiment Construction

[0022] The autonomous planning method of nuclear radiation detection path for mobile robots in unfamiliar indoor scenes is applied to mobile robots, which are equipped with odometer, acceleration sensor, laser ranging radar, camera, radiation detector and computer; odometer, acceleration sensor , the laser ranging radar, the camera and the radiation detector are electrically connected or communicated with the computer respectively.

[0023] The independent planning method of nuclear radiation detection path is as follows:

[0024] S01, get the environment map:

[0025] After the mobile robot enters the indoor area to be tested, it drives around the indoor boundary, comprehensively obtains environmental information through the odometer, acceleration sensor, laser ranging radar and camera, and the computer performs multi-sensor data fusion through the extended Kalman filter algorithm to obtain the environmental information. Map, calculate the current position coordinates, attit...

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Abstract

The invention provides an autonomous planning method for a nuclear radiation detection path of a mobile robot in an unfamiliar indoor scene, which is applied to the mobile robot. A speedometer, an acceleration sensor, a laser ranging radar, a camera, a radiation detector and a computer are carried on the mobile robot; and the speedometer, the acceleration sensor, the laser ranging radar, the camera and the radiation detector are electrically connected or in communication connection with the computer respectively. The autonomous planning method for the nuclear radiation detection path comprises: S01, obtaining an environmental map; S02, generating a global path planning; and S03, correcting the global path planning through local path planning.

Description

technical field [0001] The invention relates to the field of nuclear radiation detection, in particular to a method for autonomously planning a nuclear radiation detection path of a mobile robot in an unfamiliar indoor scene. Background technique [0002] Radiation detection technology plays an important role in the fields of nuclear emergency, nuclear safety, and decommissioning of nuclear facilities. For nuclear emergency scenarios that require rapid response and nuclear facility decommissioning disposal sites that frequently change the radiation operating environment, it is a feasible solution to use mobile robots equipped with radiation detectors for radiation detection. The detection of radioactive sources avoids the health damage caused by artificial detection of radiation. [0003] Using mobile robots for radiation detection, the environment map is the prior information. Using mobile robots for radiation detection in indoor environments lacking environmental map inf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 邹树梁邓骞王湘江唐德文徐守龙
Owner NANHUA UNIV
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