摘要
为了改进电力作业现场复杂环境下机器人定位精度,提出了一种自主导航与视觉辅助定位融合方法。在激光传感器即时定位与地图构建的基础上,基于视觉图像处理,对机器人位置进行校准,使其能够准确停靠在任务位置。应用结果表明,所提方法能够有效提高机器人定位精度,定位误差小于1 cm。
In order to improve the localization accuracy of the robot in the complex environment of electric power operation site,a vision assisted positioning method with autonomous navigation is proposed.Based on laser simultaneous localization and mapping,the robot position is calibrated using the robot vision information and image processing algorithm,so that it can accurately stop at the task position.The application results show that the proposed method can effectively improve the positioning accuracy of the robot and the localization error is less than 1 cm.
作者
谢晓娜
刘曦
常政威
彭倩
许硕
Xie Xiaona;Liu Xi;Chang Zhengwei;Peng Qian;Xu Shuo(Chengdu University of Information Technology, Chengdu 610025, Sichuan, China;State Grid Sichuan Electric Power Research Institute, Chengdu 610041, Sichuan, China)
出处
《四川电力技术》
2020年第3期48-52,共5页
Sichuan Electric Power Technology
基金
四川省科技计划应用基础研究项目(基于多数据融合的复杂电力作业环境机器人导航技术研究2018JY0386)。
关键词
电力机器人
自主导航
视觉定位
校准
electric robot
autonomous navigation
vision location
calibration
