Improved slam and multi-sensor fused robot positioning method and system

Abstract

The invention relates to an improved slam and multi-sensor fused robot positioning method and system, and the method comprises the steps: carrying out the spatial data collection through a laser radar, an inertial sensor and a positioning device, and obtaining a multi-frame robot positioning data package; segmenting ground point clouds from each frame of robot positioning data packet, and performing filtering and plane fitting on each frame of ground point clouds in sequence to obtain multiple frames of ground plane point clouds; performing point cloud filtering on each frame of ground plane point cloud to obtain multiple frames of ground plane sparse point clouds; performing front-end odometer by using the multiple frames of ground plane sparse point clouds to obtain the pose of each frame of ground plane sparse point clouds; according to the poses, key frame ground plane sparse point clouds are extracted from the multiple frames of ground plane sparse point clouds, and a probability graph is constructed according to the key frame ground plane sparse point clouds. According to the method, the gps sensor, the imu sensor and the lidar sensor can be fused at the same time, and the elevation error can be effectively restrained.

Description

technical field [0001] The invention relates to the field of robot positioning, in particular to an improved slam and multi-sensor fusion robot positioning method and system. Background technique [0002] The substation is an important area for power grid transmission. The inspection of its equipment is an important task to ensure the safety of electricity consumption. At present, manual inspection and manual recording are generally used. With the development of my country's economy, the power consumption continues to increase. Substations The scale and number of inspections have also increased, which has greatly increased the inspection scope and workload of the staff. With the development and maturity of robot technology, it is possible to use robots to inspect related equipment, and it has been applied in many substations. [0003] The application of intelligent inspection robots in substations has greatly improved the shortcomings of manual inspections and reduced the wo...

AI Technical Summary

Problems solved by technology

However, the existing inspection robots do not simultaneously integrate the three sensors of gps, imu, and lidar (gps stands for positioning sensor, imu stands for inertial sensor, lidar stands for laser radar), and in the absence of gps, the elevation error of robot positioning is the main error term, of course it cannot be used when the ground is non-planar

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