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Local cost map generation method, storage medium and intelligent unmanned inspection vehicle

A local cost, unmanned vehicle technology, applied in the re-radiation of electromagnetic waves, radio wave measurement systems, reflection/re-radiation of radio waves, etc., can solve problems such as large amount of calculation, difficulty in autonomous walking, insufficient deep processing, etc., to achieve efficiency High, high-precision effects

Active Publication Date: 2022-06-21
TZTEK TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current inspection robots also have some problems, such as immature technologies such as mapping, navigation, routing, and obstacle avoidance, especially for complex environments such as ports, power plants, and the field, which are difficult to walk autonomously and require human assistance.
At the same time, path planning is relatively procedural and lacks intelligence
In addition, for the acquisition of local cost maps in self-built maps, conventional deep processing is not enough, and the amount of calculation is large, resulting in low map accuracy and untimely

Method used

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  • Local cost map generation method, storage medium and intelligent unmanned inspection vehicle
  • Local cost map generation method, storage medium and intelligent unmanned inspection vehicle
  • Local cost map generation method, storage medium and intelligent unmanned inspection vehicle

Examples

Experimental program
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no. 1 example

[0031] A method for generating a local cost map. The generation of the local cost map is performed with reference to the following algorithm pseudocode. The input parameters represent the input current frame laser point cloud PC respectively. base , the width W and height H of the local cost map to be generated, the transformation matrix T of the sensor of the current frame map base , Position vector information Vector marked on the point cloud map in advance map and Obstacle of Obstacle Perception Information base ; output parameters and local cost map Cost local .

[0032] Specifically, see figure 1 , the method includes the following steps.

[0033] S1. Real-time acquisition of Vector containing environmental information and position vector information map The current laser point cloud of PC lidar , while obtaining the current perception obstacle Obstacle including location information features lidar . Set pre-generated local costmap Cost local The width W and hei...

no. 2 example

[0060] The present invention also provides a computer-readable storage medium on which computer instructions are stored, and when the computer instructions are executed, the method described in the first embodiment is executed. Wherein, for the method, please refer to the detailed introduction in the foregoing part, and details are not repeated here.

[0061] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the computer-readable medium includes a permanent Persistent and non-permanent, removable and non-removable media can be implemented by any method or technology for information storage. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not li...

no. 3 example

[0064] An intelligent unmanned inspection vehicle, see image 3 , including vehicle body 1, mapping radar component, satellite antenna 5, obstacle avoidance monitoring component and intelligent patrol navigation obstacle avoidance system;

[0065] The mapping radar component includes a front-end laser radar 2, an intermediate laser radar 3, and a top-end laser radar 4, which are used to obtain environmental information in the form of 3D point clouds. The method described above, thereby generating a real-time updated local cost map Cost' local ;

[0066] The satellite antenna 5 is used to obtain global geographic location information and provide a point cloud map PC MAP , the intelligent inspection, navigation and obstacle avoidance system is based on the point cloud map PC MAP Generate a global cost map Cost' global ;

[0067] The obstacle avoidance monitoring component includes a front-end millimeter-wave radar 6, a surround-view camera 7, a top binocular camera 8 and an...

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Abstract

The invention provides a method for generating a local cost map, a storage medium and an intelligent unmanned inspection vehicle, and belongs to the point cloud map construction technology in the field of automatic navigation. The method includes real-time acquisition of Vector information containing environmental information and position vector information map The current laser point cloud PC lidar , coordinate transformation, determine the region of interest ROI, and traverse the current laser point cloud PC lidar All spatial points p within the region of interest ROI in i , to obtain the number of point clouds count mn , looking for the number of point clouds count mn The maximum value is recorded as count_max, and the position vector information Vector map Transfer to the base coordinates of the unmanned vehicle base to get the Vector base , traverse the current local cost map Cost local All locations of all areas, determine the passability of all areas and mark them, and complete the local cost map Cost’ with traffic information marks local . This application passes the current laser point cloud PC lidar and the current Perceptual Obstacle Obstacle lidar , which can efficiently produce local cost maps Cost’ with traffic information marks in real time local , improve the efficiency and precision, and facilitate popularization and application.

Description

technical field [0001] The invention belongs to the field of automatic navigation, relates to a point cloud map construction technology, and in particular relates to a method for generating a local cost map, a storage medium and an intelligent unmanned inspection vehicle. Background technique [0002] With the development of society and technology, unmanned driving and inspection robots are widely used to assist / replace manual inspections, which also makes robot inspections a future development trend. This application has become the first choice to replace manual inspection, especially in high-risk, harsh, and repetitive operation environments. The inspection robot has the advantages of fast movement speed, low operation noise and convenient maintenance, which greatly reduces the work intensity of inspection personnel and improves the inspection efficiency. [0003] However, the current inspection robots also have some problems, such as the immature technologies of mapping,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32G01C21/34G01S13/86G01S13/87G01S13/931G01S17/89
CPCG01C21/32G01C21/3415G01S13/867G01S13/87G01S13/931G01S17/89
Inventor 谷孝东任思旭刘军传曹葵康袁晨星常华
Owner TZTEK TECH