Electric power inspection robot positioning method based on multi-sensor fusion

Abstract

The invention provides an electric power inspection robot positioning method based on multi-sensor fusion, and the method comprises the steps: firstly carrying out the preprocessing of data collectedby a camera, an IMU and a speedometer and the calibration of a system, and completing the initialization of a robot system; secondly, extracting a key frame, and performing back-end optimization on the position, the speed and the angle of the robot and the bias of a gyroscope in the IMU by utilizing the real-time visual pose of the key frame to obtain the real-time pose of the robot; then, constructing a key frame database, and calculating the similarity between the current frame image and all key frames in the key frame database; and finally, performing closed-loop optimization on the key frames in the key frame database forming the closed loop, and outputting the pose after closed-loop optimization to complete positioning of the robot. According to the back-end optimization method provided by the invention, the positioning precision is improved; and closed-loop optimization is added in the visual positioning process, so that accumulated errors existing in the positioning process areeffectively eliminated, and the accuracy under the condition of long-time operation is guaranteed.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a multi-sensor fusion-based positioning method for an electric inspection robot. Background technique [0002] Electric power enterprises are enterprises that produce and transport electricity safely, and the safety of their equipment is an important guarantee for maintaining daily power supply. The safe and stable operation of electrical equipment determines the safe and stable operation of the entire power system and the reliable supply of electricity. Therefore, power companies have formulated a patrol inspection system. However, in the traditional manual inspection method, the staff mainly record the readings of the equipment through sensory observation, and judge the operating status of the equipment based on experience and knowledge. This method not only requires a lot of manpower to equip the substation, but also takes time and energy, is prone to misjudgment, ...

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Problems solved by technology

[0006] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a positioning method for electric power inspection robots based on multi-sensor fusion, which solves the technical problems of high cost, low precision and poor stability in the existing electric power inspection robot positioning systems

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