Environmental Contour Reconstruction Method Based on Ultrasonic Sensor Three-position Measurement
A contour reconstruction and ultrasonic technology, which is applied in the field of detection technology and automation system, can solve the problems that the environment cannot be improved as expected, the integrity of the environment contour and the influence on the credibility, etc., and it is easy to determine and debug, cost-effective, and reduce The effect of high error rates
Active Publication Date: 2021-07-13
SHENYANG JIANZHU UNIVERSITY
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these undoubtedly affect the integrity and credibility of the environmental profile
[0007] Because there are many methods of feature correlation in environmental profile measurement, but it is necessary to formulate clear and unified correlation standards, and to facilitate measurement, fusion, and reconstruction, researchers should analyze the dependencies and couplings between position measurements when performing environmental reconstruction. characteristics, purely based on the Gaussian distribution two-position measurement environment reconstruction method, the reconstructed environment will not be able to get the desired improvement
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[0072] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0073] It should be noted that the terms "first" and "second" in the specification and claims of this application and the above drawings
[0074] Two", "third", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate ci...
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The environmental contour reconstruction method based on the three-position measurement of the ultrasonic sensor relates to the detection technology field, the environmental contour reconstruction method based on the three-position measurement of the ultrasonic sensor, the ultrasonic sensor is installed on the data acquisition device, and the ultrasonic sensor is rotated within a set range, According to the characteristics of the environment, the measurement position and the number of tests are planned, with the measurement position as the center of the circle, the measurement distance as the radius, and the measurement point as the arc midpoint to make an arc; the present invention judges whether the measured feature is a straight line or The circular arc reduces the high error rate caused by the uncertainty of ultrasonic measurement, and uses the ultrasonic sensor's multiple measurement data more reasonably and effectively, making the measurement results more accurate.
Description
technical field [0001] The invention belongs to the technical field of detection technology and automation system, and in particular relates to an environment contour reconstruction method based on three-position measurement of an ultrasonic sensor. Background technique [0002] Environmental map reconstruction is the core of robot navigation technology, which describes the working environment of robots and is the premise of robot positioning and path planning. [0003] In the process of robot autonomous control, robot navigation, in the face of unknown environment or environmental changes, timely mapping of the environment is the basis of robot autonomous learning. [0004] The current science and technology is increasingly fresh, and there are many types of environmental sensors in our robotics field, such as laser sensors, infrared sensors, ultrasonic sensors, and visual sensors. The following introduces them separately: Laser sensors are often used in high-end equipment...
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IPC IPC(8): G01S5/18G01B17/06
CPCG01B17/06G01S5/18
Inventor 袁帅师金钢许景科曹阳韩笑迎
Owner SHENYANG JIANZHU UNIVERSITY