High-precision autonomous hoisting attitude control system and method based on SLAM technology

Abstract

The invention relates to a high-precision autonomous hoisting attitude control system and method based on an SLAM (Simultaneous Localization and Mapping) technology, which are used for constructing an environment map in real time and determining the position and attitude of goods by combining a camera, an IMU (Inertial Measurement Unit) and a LiDAR (LiDAR). The main controller carries out vision-inertia-LiDAR SLAM algorithm calculation according to data provided by the sensors, and the precision of attitude estimation is improved by adopting a multi-sensor fusion technology. And the autonomous control system autonomously adjusts the posture of the cargo according to the posture information provided by the vision-inertia-LiDAR SLAM algorithm so as to prevent collision. By means of the innovative design, the safety and precision of hoisting are remarkably improved, and the hoisting device is particularly suitable for hoisting operation of light-weight and high-value goods in narrow spaces and unknown environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting equipment, and in particular to a high-precision autonomous hoisting posture control system and method based on SLAM technology. Background Art

[0002] Hoisting refers to the general term for the installation and positioning of equipment by cranes or lifting mechanisms. During the inspection or maintenance process, various hoisting machines are used to lift equipment, workpieces, tools, materials, etc. to change their position.

[0003] During the lifting process, especially for small and high-value goods, their posture needs to be precisely controlled to prevent bumps and damage caused by environmental factors. Existing lifting control systems may not be flexible or efficient enough, especially in complex and dynamically changing environments. Traditional lifting methods have difficulty meeting the requirements of high precision and real-time performance, especially in confined space operations, which may lead to cargo damage and inefficient operations. In addition, when lifting in unknown environments, due to the lack of pre-built maps and environmental information, existing systems often cannot respond effectively, increasing operational difficulty and risk. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a high-precision autonomous lifting posture control system and method based on SLAM technology. By combining a camera and an inertial measurement unit (IMU), an environmental map is constructed in real time and the position and posture of the goods are determined. The main controller performs SLAM algorithm calculations based on the data provided by the sensor, and uses multi-sensor fusion technology to improve the accuracy of posture estimation. The control system adjusts the posture of the goods in real time according to the posture information provided by the SLAM algorithm to prevent collisions. This innovative design significantly improves the safety and accuracy of lifting, and is particularly suitable for lifting operations of small-weight, high-value goods in a small space.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A high-precision autonomous lifting posture control system based on SLAM technology, including a camera, an inertial measurement unit, a laser radar, a multi-sensor fusion technology module, a main controller and an autonomous control system, wherein the camera, the inertial measurement unit and the laser radar are respectively connected to the multi-sensor fusion technology module, and the multi-sensor fusion technology module, the main controller and the autonomous control system are connected in sequence, the camera, the inertial measurement unit and the laser radar are used to collect environment and cargo data and send them to the multi-sensor fusion technology module, the main controller and the multi-sensor fusion technology module are used to build an environmental map in real time according to the data and accurately determine the position and posture of the cargo, and the autonomous control system is used to adjust the posture of the cargo in real time to effectively prevent bumps and damage.

[0007] Moreover, the camera is a high-resolution, low-latency camera, and the camera is installed on the hoisting equipment to ensure that it can cover the hoisting area and collect clear environmental images.

[0008] Moreover, the inertial measurement unit selects a high-precision, low-noise inertial measurement unit, and the inertial measurement unit is placed near the center of gravity of the cargo to reduce the impact of external interference on posture measurement.

[0009] Moreover, the main controller uses a SLAM algorithm to construct an environmental map in real time and determine the position and posture of the cargo.

[0010] Moreover, the camera, inertial measurement unit and lidar are powered by batteries.

[0011] Furthermore, the battery is managed by a power management system, which includes power monitoring and low-battery alarm functions to ensure continuous operation of the system.

[0012] Moreover, the camera, inertial measurement unit and lidar are connected to the multi-sensor fusion technology module via wireless transmission.

[0013] A control method for a high-precision autonomous lifting posture control system based on SLAM technology, characterized in that it includes the following steps:

[0014] Step 1: The camera, inertial measurement unit and lidar collect environmental and cargo data and send them to the multi-sensor fusion technology module;

[0015] Step 2: The multi-sensor fusion technology module and the main controller build an environmental map in real time based on the data and accurately determine the location and posture of the goods;

[0016] Step 3: The autonomous control system adjusts the posture of the goods in real time according to their position and posture, effectively preventing bumps and damage.

[0017] The advantages and positive effects of the present invention are:

[0018] The present invention combines high-resolution cameras, high-precision IMU (inertial measurement unit) and high-performance LiDAR, and the system can build an environmental map in real time and accurately determine the position and posture of the goods. The main controller adopts advanced visual-inertial-LiDAR SLAM algorithm and multi-sensor fusion technology (such as extended Kalman filter EKF), which significantly improves the accuracy and robustness of posture estimation. The autonomous control system can adjust the posture of the goods in real time according to the posture information provided by the visual-inertial-LiDAR SLAM algorithm, effectively preventing bumps and damage. Especially in complex and dynamically changing environments, such as narrow space operations and hoisting in unknown environments, the system can provide high-precision positioning and posture control, greatly improving the safety and efficiency of hoisting. In addition, the wireless communication module of the system ensures the stability and real-time performance of data transmission, and the portable power supply design ensures the reliability of long-term operation. Overall, the present invention provides reliable technical support for the hoisting of small-weight and high-value goods, and significantly improves the overall performance and safety of hoisting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a system structure diagram of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to the accompanying drawings.

[0021] A high-precision autonomous lifting attitude control system based on SLAM technology, such as Figure 1 As shown, it includes a camera, an inertial measurement unit, a lidar, a multi-sensor fusion technology module, a main controller and an autonomous control system, wherein the camera, the inertial measurement unit and the lidar are respectively connected to the multi-sensor fusion technology module, and the multi-sensor fusion technology module, the main controller and the autonomous control system are connected in sequence. The camera, the inertial measurement unit and the lidar are used to collect environment and cargo data and send them to the multi-sensor fusion technology module. The main controller and the multi-sensor fusion technology module are used to build an environmental map in real time according to the data and accurately determine the position and posture of the cargo. The autonomous control system is used to adjust the posture of the cargo in real time to effectively prevent bumps and damages.

[0022] Choose a high-resolution, low-latency camera to ensure that it can capture clear environmental images. The camera is installed on the hoisting equipment to ensure that it can cover the hoisting area and capture clear environmental images. At the same time, the camera should be firmly fixed to prevent it from loosening or falling off during the hoisting process.

[0023] The inertial measurement unit selects a high-precision, low-noise inertial measurement unit (including gyroscopes and accelerometers), which also includes a magnetometer to determine the initial orientation.

[0024] The inertial measurement unit is fixed to the key part of the cargo to ensure that it is firmly installed and not affected by mechanical vibration. At the same time, the inertial measurement unit is placed near the center of gravity of the cargo to reduce the impact of external interference on posture measurement.

[0025] The main controller develops data acquisition and processing software: including sensor calibration, data filtering, and attitude estimation algorithms. At the same time, the main controller uses SLAM algorithms (such as ORB-SLAM, LSD-SLAM, etc.) to build environmental maps in real time and determine the location and attitude of the goods.

[0026] The multi-sensor fusion technology module uses multi-sensor fusion technology (such as extended Kalman filter EKF) to combine visual data and IMU data to improve the accuracy of attitude estimation.

[0027] The autonomous control system adjusts the posture of the goods in real time according to the posture information provided by the SLAM algorithm to prevent collisions. At the same time, the autonomous control system should have rapid response and high-precision adjustment capabilities to adapt to the dynamically changing environment.

[0028] The camera, inertial measurement unit and lidar are powered by portable battery packs or other lightweight power sources. The batteries used should have sufficient battery life to meet the needs of the actual lifting process. At the same time, the batteries are managed by the power management system, which includes power monitoring and low-battery alarm functions to ensure the continuous operation of the system.

[0029] The camera, inertial measurement unit and lidar are connected to the multi-sensor fusion technology module through wireless transmission. The wireless communication protocol (such as Zigbee, Bluetooth Mesh, Wi-Fi Direct or LoRaWAN) needs to ensure stable communication between the camera and the sensor. At the same time, the wireless communication module should have high speed, low latency and high reliability to meet the needs of real-time data transmission.

[0030] A control method for a high-precision autonomous lifting posture control system based on SLAM technology, characterized in that it includes the following steps:

[0031] Step 1: The camera, inertial measurement unit and lidar collect environmental and cargo data and send them to the multi-sensor fusion technology module;

[0032] Step 2: The multi-sensor fusion technology module and the main controller build an environmental map in real time based on the data and accurately determine the location and posture of the goods;

[0033] Step 3: The autonomous control system adjusts the posture of the goods in real time according to their position and posture, effectively preventing bumps and damage.

[0034] The present invention combines high-resolution cameras, high-precision IMU (inertial measurement unit) and high-performance LiDAR, and the system can build an environmental map in real time and accurately determine the position and posture of the goods. The main controller adopts advanced visual-inertial-LiDAR SLAM algorithm and multi-sensor fusion technology (such as extended Kalman filter EKF), which significantly improves the accuracy and robustness of posture estimation. The autonomous control system can adjust the posture of the goods in real time according to the posture information provided by the visual-inertial-LiDAR SLAM algorithm, effectively preventing bumps and damage. Especially in complex and dynamically changing environments, such as narrow space operations and hoisting in unknown environments, the system can provide high-precision positioning and posture control, greatly improving the safety and efficiency of hoisting. In addition, the wireless communication module of the system ensures the stability and real-time performance of data transmission, and the portable power supply design ensures the reliability of long-term operation. Overall, the present invention provides reliable technical support for the hoisting of small-weight and high-value goods, and significantly improves the overall performance and safety of hoisting operations.

[0035] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A high-precision autonomous lifting attitude control system based on SLAM technology, characterized by: It includes a camera, an inertial measurement unit, a lidar, a multi-sensor fusion technology module, a main controller and an autonomous control system, wherein the camera, inertial measurement unit and lidar are respectively connected to the multi-sensor fusion technology module, and the multi-sensor fusion technology module, the main controller and the autonomous control system are connected in sequence. The camera, inertial measurement unit and lidar are used to collect environment and cargo data and send them to the multi-sensor fusion technology module. The main controller and the multi-sensor fusion technology module are used to build an environmental map in real time according to the data and accurately determine the position and posture of the cargo. The autonomous control system is used to adjust the posture of the cargo in real time to effectively prevent bumps and damage.

2. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 1 is characterized in that: The camera is a high-resolution, low-latency camera, and the camera is installed on the hoisting equipment to ensure that it can cover the hoisting area and collect clear environmental images.

3. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 1 is characterized in that: The inertial measurement unit is a high-precision, low-noise inertial measurement unit, and the inertial measurement unit is placed near the center of gravity of the cargo to reduce the impact of external interference on posture measurement.

4. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 1 is characterized in that: The main controller uses the SLAM algorithm to build an environmental map in real time and determine the position and posture of the cargo.

5. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 1 is characterized in that: The camera, inertial measurement unit and lidar are powered by batteries.

6. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 5 is characterized in that: The battery is managed by a power management system, which includes power monitoring and low-battery alarm functions to ensure continuous operation of the system.

7. The high-precision autonomous lifting attitude control system based on SLAM technology according to claim 1 is characterized in that: The camera, inertial measurement unit and laser radar are connected to the multi-sensor fusion technology module via wireless transmission.

8. A control method for a high-precision autonomous lifting attitude control system based on SLAM technology as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The camera, inertial measurement unit and lidar collect environmental and cargo data and send them to the multi-sensor fusion technology module; Step 2: The multi-sensor fusion technology module and the main controller build an environmental map in real time based on the data and accurately determine the location and posture of the goods; Step 3: The autonomous control system adjusts the posture of the goods in real time according to their position and posture, effectively preventing bumps and damage.

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