Environmental perception method and system of indoor inspection robot, equipment and computer readable storage medium thereof

Abstract

The invention discloses an environment perception method and system of an indoor inspection robot, equipment and a computer readable storage medium thereof. The method comprises the steps: constructing an inspection robot coordinate system, and obtaining coordinate information of the inspection robot through an included angle between the inspection robot and the coordinate axis; acquiring environmental perception data according to coordinate position depth visual perception and audio recognition and feature analysis of the inspection robot; constructing a local map of the inspection robot according to the acquired environmental perception data, and judging a driving track of the inspection robot; planning the driving angle of the inspection robot according to the feedback information of the acquired environmental perception data; light beams are extracted through a probability heuristic model and projected to a grid map unit, consistency feature information is extracted through redundant information in laser and visual information, feature-level information fusion is carried out, and the information response of the sensing system is further improved.

Description

technical field [0001] The invention relates to intelligent perception control technology, in particular to an environment perception method, system, equipment and computer-readable storage medium of an indoor inspection robot. Background technique [0002] With the development of my country's information technology and the needs of social progress, there are more and more applications for information equipment rooms such as control centers, computer rooms, network computer rooms, and program-controlled computer rooms. The premise of ensuring the normal operation of the equipment is that the environmental perception and operation control of the data center computer room have not yet reached maturity, and the imperfect operation system has caused the data center computer room to run unstable, resulting in large-scale maintenance and many problems in management. [0003] Limited by the existing 2DLidar working method, for scenes with similar indoor environment features, feature...

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Problems solved by technology

[0002] With the development of my country's information technology and the needs of social progress, there are more and more applications for information equipment rooms such as control centers, computer rooms, network computer rooms, and program-controlled computer rooms. The premise of ensuring the normal operation of the equipment is that the environmental perception and operation control of the data center computer room have not yet reached maturity, and the imperfect operation system has caused the operation of the data center computer room to be unstable, resulting in large-scale maintenance and causing many problems in management

[0003] Limited by the existing 2DLidar working method, for scenes with similar indoor environment features, feature matching failures are prone to occur, resulting in positioning errors or failures. However, using a single sensor for simultaneous positioning and map creation has low accuracy and is prone to failure. Due to the problems of interference and insufficient reliability, the existing data interaction cannot realize the transmission of single-step operation instructions and the completion notification of tasks. When data errors occur, it is impossible to accurately obtain the fault point, which further reduces the operating efficiency of the system.

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