Dual-radar fusion method and device applied to mobile robot

A technology of mobile robot and fusion method, which is applied in the direction of instruments, utilization of re-radiation, re-radiation of electromagnetic waves, etc., can solve problems such as inability to detect environmental information, and achieve the effects of wide application range, integrity assurance, and high precision

Active Publication Date: 2021-08-20
NANJING INST OF TECH
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Problems solved by technology

[0005] The patent of this invention designs a dual-radar fusion method applied to mobile robots, which can effectively solve the problem that the lidar sensor on the mobile robot is partially blocked and cannot detect the environmental information of the blocked part, and can take into account high precision and high real-time sexual advantage

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  • Dual-radar fusion method and device applied to mobile robot
  • Dual-radar fusion method and device applied to mobile robot
  • Dual-radar fusion method and device applied to mobile robot

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] In this example, the mobile robot platform is used as the carrier, which is a mobile robot platform with the functions of carrying people and objects. Therefore, no matter what installation method is adopted for a single laser radar, it will be blocked to varying degrees. Therefore, the dual radar The joint detection of is very necessary, such as figure 1 As shown, a laser radar is installed on the left and right sides of the mobile robot platform, the straight-line distance d between the left radar and the right radar, the left radar shields the data of the right half of the blocked area, and the right radar shields the left half of the data. The data in the occluded area is dominated by the radar on the left, and the radar on the right is responsible for compensating for the occluded part of the left radar, so as to achieve the effect of dual radar fusion.

[0...

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Abstract

The invention discloses a dual-radar fusion method applied to a mobile robot. The dual-radar fusion method can achieve the large-range scanning of the surrounding environment of a mobile robot platform after a half of the scanning range of a single laser radar is shielded, and can achieve the high precision. When the partial region of a left side laser radar is shielded, the right side radar data is used to calculate the distance and angle information from an obstacle in the shielded region of the left side radar to the left side radar so as to realize the information compensation of the left side radar, thereby realizing the fusion of the double laser radars, and ensuring the completeness of the mobile robot using the laser radars to collect the environment information.

Description

technical field [0001] The technical field designed by the patent of the present invention is the field of sensor technology and mobile robot technology. Background technique [0002] With the development of today's robotics technology, autonomous mobile robots are widely used in various scenarios such as service industry, industrial manufacturing, and medical care due to their intelligence and practicability. This type of robot has a strong ability to move. Through the setting of the target point, it can realize the autonomous navigation function to replace human beings to complete some complex and dangerous tasks. Synchronous positioning and map construction technology (SLAM) and indoor autonomous navigation technology are mobile robots. The main technology of SLAM is mainly used to solve the problems of positioning, navigation and map construction when mobile robots are running in unknown environments. Starting from a certain point in the location environment, the self-p...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/87G01S17/93
CPCG01S17/87G01S17/93
Inventor 黄家才顾皞伟陈田高芳征吕思男汤文俊唐安汪涛
Owner NANJING INST OF TECH
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