Transformer substationinspection robot mapping method based on graph optimization
An inspection robot and map optimization technology, applied in the field of intelligent robots, can solve problems such as large cumulative errors, large gaps between the map and the real state, and no very strict real matching, so as to reduce cumulative errors, improve map building efficiency, and prevent The effect of pose jump
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[0070] An embodiment of the present invention introduces a method for drawing a substation inspection robot based on map optimization.
[0071] The hardware system sensors of the robot used in this embodiment mainly include an odometer, an inertial navigation unit, and a three-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, angular velocity, and three-dimensional laser. The 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 i...
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