Electric power inspection robot system based on three-dimensional laser radar and mapping method

Abstract

The invention discloses an electric power inspection robot system based on a three-dimensional laser radar and a mapping method, the system architecture comprises a hardware control layer, a hardware driving layer and a mapping and positioning algorithm layer, the method comprises the following steps: obtaining 3D point cloud data obtained by scanning of the three-dimensional laser radar, and carrying out 2D data processing on the 3D point cloud; obtaining the 2D point cloud data, the position data of the robot obtained through a wheel type odometer and the posture data of the robot obtained through an inertial measurement unit, namely, the predicted posture of the robot, and the position data and the posture data of the robot reversely determined through the 2D point cloud, namely, the observation posture of the robot; matching the observation pose and the prediction pose of the robot through a CSM method to obtain the real position and pose data of the robot, and obtaining the actual coordinates of each laser point in the 2D point cloud data; and generating a first map based on the actual coordinate of each laser point in the 2D point cloud data.

Description

technical field [0001] The invention relates to the technical field of inspection robot equipment, in particular to a three-dimensional laser radar-based power inspection robot system and a mapping method. Background technique [0002] With the development of the economy and the improvement of people's living standards, social power consumption continues to increase, posing higher challenges to the stability of power grid operation, and the demand for inspections in various links of power systems such as power transformation, power transmission, and power distribution has further increased. Power substations are faced with the demands of high reliability, high load density and high power quality. The requirements for power outages are becoming more and more stringent, and there are fewer and fewer opportunities for offline operation and maintenance of key substation equipment. Therefore, the power substation urgently needs advanced on-site maintenance operation technology. ...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a three-dimensional laser radar-based power inspection robot system architecture design and mapping method, adopt a layered control method to improve control efficiency and control accuracy, and a professional control framework It can improve the system logic, solve the problem of large amount of 3D laser radar data, complex processing algorithm, and long time to build a map, and solve the problem of building a map based on laser SLAM. In a strong light environment, the obtained positioning data of the robot is inaccurate. When there are many dynamic obstacles, the problem of unstable positioning and mapping

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