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Road surface construction robot environment perception system and method based on multi-source sensor

A source sensor and environment perception technology, applied in the field of artificial intelligence, can solve problems such as inability to meet high real-time requirements, and achieve good application prospects, high detection accuracy, and high real-time requirements.

Active Publication Date: 2019-09-17
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the adaptability of this method to the environment has been significantly improved, it cannot meet the high real-time requirements of the construction scene. Problems solved by development

Method used

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  • Road surface construction robot environment perception system and method based on multi-source sensor
  • Road surface construction robot environment perception system and method based on multi-source sensor
  • Road surface construction robot environment perception system and method based on multi-source sensor

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Embodiment 1

[0036] The road construction robot environment perception system based on multi-source sensor data fusion, including the main body 1 of the road construction robot, such as figure 1As shown, the top four directions of the main body of the robot are respectively provided with cameras 3, the front and rear directions of the main body of the robot are respectively provided with a laser radar 4, and an embedded industrial computer 2 is arranged in the main body of the robot, and the camera 3 and the laser radar 4 are respectively Connected with the embedded industrial computer 2, the camera 3 is used to collect road surface picture data, and the laser radar 4 is used to collect point cloud data; the embedded industrial computer is used to complete the multi-target detection and ranging algorithm acquisition based on data fusion And integrate the category information of the picture data and the distance information of the laser radar, and then from the two directions of the image an...

Embodiment 2

[0040] The environment perception method of road construction robot based on multi-source sensors includes the following steps:

[0041] S1, collect road image data and point cloud data respectively through cameras and lidar.

[0042] S2. Obtain the transformation matrix between the camera and the laser radar coordinate system through the combined calibration method of the camera and the laser radar, and obtain the internal parameter matrix of the camera by Zhang Zhengyou's checkerboard calibration method, and select two-dimensional images and three-dimensional points through multi-checkerboard calibration. For the characteristic corner points of cloud matching, the optimal transformation matrix between the camera and the lidar coordinate system is obtained by using the least square method.

[0043] S3, the multi-target detection and ranging algorithm based on data fusion acquires and fuses the category information of the picture data and the distance information of the laser ...

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Abstract

The invention discloses a road surface construction robot environment perception system and method based on a multi-source sensor. A camera and a laser radar are arranged on a robot body; an embedded industrial control computer is arranged in the robot body; the embedded industrial control computer is used for obtaining and fusing class information of picture data and distance information of the laser radar based on a data fusion multi-target detection ranging algorithm, then, tracking a target by adopting a particle filter algorithm in the two directions of an image and point cloud, obtaining dynamic estimation change of an obstacle target in continuous time, and finally, obtaining the advancing speed and the motion direction of an obstacle in a construction area through the dynamic estimation change; road surface environment perception on the construction area is realized by drawing a risk graph; therefore, the adaptive capacity of the system for different environments is obviously improved; furthermore, the shielding condition between obstacles has some improvements on multi-target detection and a tracking algorithm; therefore, the effective operation of the construction robot is ensured; and thus, the system and the method have good application prospect.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence, and in particular relates to an environment perception system and method for a road construction robot based on multi-source sensors. Background technique [0002] As one of the future development directions of unmanned driving, fully autonomous construction robots have good development prospects in social life and market economy. The entire system of a fully autonomous construction robot generally includes an environment perception module responsible for recognizing the risks of the surrounding environment, a path planning module that makes reasonable adjustments based on the dynamic information of surrounding obstacles, and a control module and an execution module that mobilize the robot to complete autonomous driving in terms of implementation. Wait. Among them, the environmental perception module is the basis of unmanned driving technology and the key to determining the follo...

Claims

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Application Information

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IPC IPC(8): G01S17/93G01S17/66G01S7/497G01S17/02
CPCG01S17/66G01S7/497G01S17/86G01S17/931Y02T10/40
Inventor 李煊鹏赵靖文李宇杰薛启凡罗佳奕
Owner SOUTHEAST UNIV
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