Robot three-dimensional laser location method under sparse environment

A technology of three-dimensional laser and positioning method, which is applied in the field of intelligent robots, can solve the problems of not being able to effectively describe the three-dimensional structure, affect the positioning accuracy of the robot, and make it difficult to scan the environment thoroughly, so as to avoid positioning drift, improve positioning accuracy, and improve positioning efficiency Effect

Active Publication Date: 2019-03-08
YIJIAHE TECH CO LTD
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Problems solved by technology

However, this method realizes the positioning of the robot on the basis of a two-dimensional laser sensor. The two-dimensional laser sensor can only detect environmental information at a certain height, and it is difficult to realize a thorough scan of the environment and cannot effectively describe the three-dimensional structure of the space. Thus affecting the positioning accuracy of the robot

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  • Robot three-dimensional laser location method under sparse environment
  • Robot three-dimensional laser location method under sparse environment
  • Robot three-dimensional laser location method under sparse environment

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Embodiment

[0062] An embodiment of the present invention introduces a three-dimensional laser positioning method for a robot in a sparse environment.

[0063] The robot that this embodiment adopts, its hardware system sensor mainly comprises odometer, inertial navigation unit, three-dimensional laser sensor, and wherein odometer can be used for the predicted value of calibration position, and inertial navigation unit can be used for calibration linear velocity, angular velocity, three-dimensional laser sensor. Sensors are used to obtain laser data. The robot software system uses the robot operating system ROS, which is a commonly used robot software platform. It can provide functions similar to operating systems for heterogeneous computer clusters, and the ROS system includes nodes that implement positioning functions. Of course, it can be understood that the method of the present invention can also be implemented by other robot software systems, and the ROS system is used in this embodi...

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Abstract

The invention belongs to the technical field of intelligent robots and discloses a robot three-dimensional laser location method under the sparse environment. The location method comprises the following steps: limiting three freedom degrees of a robot and limiting motion of the robot in a horizontal plane; utilizing a particle filter algorithm to combine laser data from a three-dimensional laser sensor of the robot with speedometer data and inertial navigation data to calculate an initial estimated value of robot posture; locating a scanning window; calculating confidence coefficients of all possible candidate postures and choosing the posture with the highest confidence coefficient score as the optimal posture estimation of the robot. When the robot three-dimensional laser location methodunder the sparse environment disclosed by the invention is used, the location related calculation quantity is greatly reduced, and the location efficiency and the location precision are obviously improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a three-dimensional laser positioning method for a robot in a sparse environment. Background technique [0002] In my country's electric power industry, robot technology has been introduced to realize the inspection work of substation equipment, and the robot inspection work is faced with the positioning problem in the operation of the robot. Substation robot positioning refers to the process in which the robot determines its own and target pose by perceiving environmental information and processing relevant information. [0003] The existing autonomous positioning methods for intelligent mobile robots mainly include relative positioning and absolute positioning. Absolute positioning means that an autonomous mobile robot uses sensors to measure its absolute position information in the space coordinate system to achieve global positioning, requiring high pos...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 林欢李彬李栗张利平王锋
Owner YIJIAHE TECH CO LTD
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