Automatic navigation method for subway carriage disinfection robot
An automatic navigation and robotics technology, applied in the field of robotics, can solve problems such as the inability to realize automatic navigation and autonomous disinfection, and the loss of coordinates of robots, and achieve good adaptability, efficient calculation values, and accurate pose estimation results.
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Embodiment 1
[0058] A subway car disinfection robot, including a robot body and an atomization system, such as figure 2 and Figure 4 As shown, the atomization system is placed in the inner cavity of the robot body, and is provided with a mist outlet 2, a mist hose 3 and an atomization box 4 in sequence from top to bottom. Such as Figure 8 As shown, the bottom of the atomization box 4 is provided with several atomization plates 20 .
[0059] A piezoelectric disc 24 is arranged under the piezoelectric base of the atomizing plate. After being energized, the piezoelectric discs vibrate to generate multiple waveforms. Under the action of motion inertia, the liquid is atomized on the flow channel of the atomizing plate. At the same time, if Figure 5 As shown, an air hole 23 with a diameter of 0.1 mm is also provided under the atomizing plate. The air outlet structure of the air hole 23 is as Figure 6 As shown, the flow channel is connected to the micro air compressor 22 through the air...
Embodiment 2
[0072] A method for automatic navigation of a disinfection robot in a subway car, comprising the following steps:
[0073] Step 1. A subgraph is generated from the lidar scan frames scanned continuously for a period of time. The subgraph adopts the map expression model of the probability grid. When a new lidar scan frame is inserted into the probability grid, the grid state is updated, as follows :
[0074] The pose of the robot can be expressed by ξ=(ξ x ,ξ y ,ξ θ ) to represent, ξ x and ξ y Indicates the amount of translation in the x and y directions, ξ θ Indicates the amount of rotation in a two-dimensional plane. Record the data measured by the lidar sensor as H={h k} k＝1,...,K , The initial laser point is The pose transformation of the lidar scanning data frame mapped to the sub-image is denoted as T ξ , can be mapped to the sub-graph coordinate system by formula (1):
[0075]
[0076] In the formula, R i Indicates the rotation angle of the lidar observ...
Embodiment 3
[0120] A method for automatic navigation of a disinfection robot in a subway car, comprising the following steps:
[0121] Step 1. A subgraph is generated from the lidar scan frames scanned continuously for a period of time. The subgraph adopts the map expression model of the probability grid. When a new lidar scan frame is inserted into the probability grid, the grid state is updated, as follows :
[0122] The pose of the robot can be expressed by ξ=(ξ x ,ξ y ,ξ θ ) to represent, ξ x and ξ y Indicates the amount of translation in the x and y directions, ξ θ Indicates the amount of rotation in a two-dimensional plane. Record the data measured by the lidar sensor as H={h k} k＝1,...,K , The initial laser point is The pose transformation of the lidar scanning data frame mapped to the sub-image is denoted as T ξ , can be mapped to the sub-graph coordinate system by formula (1):
[0123]
[0124] In the formula, R i Indicates the rotation angle of the lidar observ...
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