Three-dimensional laser radar positioning and navigation method for intelligent inspection and inspection robot

Abstract

The invention discloses a three-dimensional laser radar positioning and navigation method for intelligent inspection. The method comprises the steps of S1 acquiring original point cloud data of a to-be-inspected area through a laser radar, and establishing a global point cloud map; S2 converting the global point cloud map into a grid map, and performing global path planning according to preset patrol points to obtain an optimal patrol path; S3 estimating to obtain an initial position, obtaining initial point cloud data of the initial position, and matching the initial point cloud data with theglobal point cloud map to obtain an initial positioning value based on a global map coordinate system; and S4 through matching of the current frame point cloud data obtained in real time and the global point cloud map, obtaining a current inspection pose. As the method is realized by utilizing the three-dimensional laser radar, the functions of three-dimensional perception, autonomous path planning and positioning navigation of the environment can be well realized, and the inspection precision of the inspection robot is improved; GPS positioning navigation does not need to be adopted, and theanti-electromagnetic interference capacity is high.

Description

Technical field [0001] The present invention is in the inspection robot, and more particularly relates to a three-dimensional laser radar positioning and navigation intelligence inspection method and inspection robot. Background technique [0002] With advances in technology, inspection robot to play in industrial, military, daily life in the increasingly important role, instead of doing so to complete the park security, special high-risk work scene inspection, field investigation and other tasks. To complete the inspection of independent security and other tasks, is the basis for high-precision positioning and navigation. [0003] Currently, the prior art, inspection robot navigation positioning is divided into rail and non-rail type. There rail includes a magnetic suspension rail and rail navigation, positioning accuracy of these two methods, but needs to lay tracks in advance, difficult transformation patrol routes, poor flexibility. Without rail positioning navigation way you...

AI Technical Summary

Problems solved by technology

However, the visual sensor is easily affected by ambient light, and in some situations with strong exposure or low brightness, the positioning will be lost.

However, two-dimensional laser radar can only obtain two-dimensional information of the environment at a certain height, and cannot effectively describe the three-dimensional environmental space, which will affect the positioning accuracy.

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