Cable trench intelligent inspection robot mapping method based on multi-sensor fusion
A multi-sensor fusion, inspection robot technology, applied in the field of intelligent robots, can solve problems such as poor reliability, mobile robot motion blocked, loopback detection errors, and inability to detect dead-end obstacles.
Pending Publication Date: 2021-07-06
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
[0010] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the mobile robot cannot extract complete information from the surrounding unknown environment when constructing a map in a complex cable trench environment, and cannot detect a single sensor due to a laser radar or a depth camera. The dead angle obstacles caused by this will eventually cause the movement of the mobile robot to be blocked and the loopback detection will be wrong, resulting in poor reliability.
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[0056] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0057] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.
[0058] Such as figure 1 As shown, it is a schematic flow chart of the method for building a map of a cable trench intelligent insp...
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The invention discloses a cable trench intelligent inspection robot mapping method based on multi-sensor fusion, and relates to the technical field of intelligent robots. The mapping method comprises the steps that observation information of internal sensors and external sensors of an inspection robot is collected, and positioning of the inspection robot is obtained; an environment map is established on the basis of self-positioning according to an RBpf-slam algorithm, a joint distribution formula of poses and the map is obtained, and the step of establishing the environment map comprises the substeps that observation information is converted into a laser data format, and coordinate transformation is carried out; and through sampling, weight calculation, resampling and map estimation, continuous iteration is realized to estimate the pose algorithm of the inspection robot at each moment. According to the invention, the pseudo laser data converted from the laser data of the laser radar, the depth information of the depth camera and the distance information of the ultrasonic wave are fused, so that the information of external observed quantity is enriched, the laser loopback effect is easier to realize, and the inspection robot realizes accurate mapping.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method for building a map of a cable trench intelligent inspection robot based on multi-sensor fusion. Background technique [0002] In today's rapidly developing 21st century, the number of power transmission and distribution lines is gradually increasing, but because the cable trenches mostly exist underground, and the long-term operation leads to aging and discharge of the cable's outer insulation, as well as the accumulation of water and tides inside the cable trenches, and in the The accumulation of flammable gases such as methane and other flammable gases produced by some dead animals and plants in the cable trench through microbial decomposition may eventually cause fire and explosion in the underground cable trench. Moreover, the internal environment of the underground cable trench is narrow and complicated, and it is particularly difficult for staff to inspe...
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Login to View More IPC IPC(8): G01S17/89G01S17/93G01S17/87G01S15/93G01S15/89
CPCG01S17/89G01S17/93G01S17/87G01S15/93G01S15/89
Inventor 贾智伟田奕宏刘铮樊绍胜周文广赖志强刘豪辉
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY