电力机器人的自主导航与视觉辅助定位融合方法

A Vision Assisted Positioning Method with Autonomous Navigation of Electric Ｒobot

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。

Abstract:

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．