Real-time robot localization method in sparse environment

A real-time positioning and robot technology, applied in the field of intelligent robots, can solve the problems of low positioning efficiency, large amount of calculation, and low positioning accuracy, and achieve the effect of improving positioning efficiency and positioning accuracy, and reducing the amount of calculation related to positioning.

Active Publication Date: 2018-07-06
YIJIAHE TECH CO LTD
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Problems solved by technology

Although this method can enable the robot to achieve accurate positioning in the entire substation environment, in such an environment as the substation, due to the large area of ​​the substation, the larg

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  • Real-time robot localization method in sparse environment
  • Real-time robot localization method in sparse environment
  • Real-time robot localization method in sparse environment

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Example Embodiment

[0037] Example 1:

[0038] An embodiment of the present invention introduces a method for real-time positioning of a robot in a sparse environment.

[0039] The hardware system sensors of the robot used in this embodiment mainly include an odometer, an inertial navigation unit, and a two-dimensional laser sensor. The odometer can be used to calibrate the predicted value of the position, and the inertial navigation unit can be used to calibrate the linear velocity and angular velocity. The dimensional laser sensor is used to obtain laser data. The robot software system uses the robot operating system ROS, which is a commonly used robot software platform that can provide functions similar to the operating system for heterogeneous computer clusters. The ROS system includes nodes that implement positioning functions. Of course, it is understandable that the method of the present invention can also be implemented by software systems of other robots, and the ROS system is used in this e...

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Abstract

The invention belongs to the technical field of intelligent robots and discloses a real-time robot localization method in a sparse environment. The method comprises the following steps: 1) calculatingan initial predicted pose value of a robot at a corresponding time point in the next frame by virtue of robot laser data; correcting the initial pose value according to up-to-date odometer data and inertial navigation data; 2) determining all possible candidate poses according to a localization scanning window, calculating coordinates of each laser reflection point at each scanning angle after each frame of laser data is acquired; combining map data to calculate discrete scanning data of each scanning angle; 3) calculating a product of a confidence coefficient and a confidence weight of eachcandidate pose as a confidence score of the current pose, and taking a candidate pose with the highest confidence score as a pose at the corresponding time point of next frame data so as to perform optimal estimation. According to the real-time robot localization method in the sparse environment, disclosed by the invention, the localization related calculated quantity is greatly decreased, and thelocalization efficiency and the localization accuracy are obviously improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a real-time positioning method for a robot in a sparse environment. Background technique [0002] The traditional substation inspection is mainly through manual methods, which has defects such as high labor intensity, scattered inspection quality, and many subjective factors. In recent years, the substation equipment inspection robot has adopted a completely autonomous or remote control method to replace the inspection personnel to inspect the items of the outdoor equipment in the substation, analyze and judge the image, and find problems in the power equipment in time. The popularization and application of substations provides innovative technical detection means, which improves the reliable and stable operation level of the power grid. [0003] In mobile robotics applications, sensor-based localization has long been considered a critical issue. Localiza...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/005
Inventor 程敏林欢乐抒怀刘细刚张国良项导王锋毛成林
Owner YIJIAHE TECH CO LTD
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