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A mobile robot positioning and mapping method in dangerous chemical accidents

A technology for mobile robots and accidents, which is applied in the directions of instruments, surveying and navigation, navigation computing tools, etc., and can solve the problems of accumulative relocation errors, expensive laser radar SLAM, inability to locate and build maps, etc.

Active Publication Date: 2021-01-19
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

At the same time, lidar SLAM is expensive, and the problem of inability to relocate will cause cumulative errors
Unable to locate and map in the case of dangerous chemical accidents

Method used

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  • A mobile robot positioning and mapping method in dangerous chemical accidents
  • A mobile robot positioning and mapping method in dangerous chemical accidents
  • A mobile robot positioning and mapping method in dangerous chemical accidents

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Embodiment Construction

[0033] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the drawings and specific embodiments are only exemplary, and should not be construed as limiting the protection scope of the present invention.

[0034] Step 1: For the smog phenomenon caused by hazardous chemical accidents, the smog will increase the brightness of the picture and reduce the saturation. A space-time based Markov random field algorithm is used for image defogging processing:

[0035] Based on the atmospheric light scattering model: I(x)=J(x)T(x)+A(1-T(x))

[0036] where I(x) is the observed image, J(x) is the real scene image, T(x) is the median transmittance, A is the global atmospheric light, and x is the pixel value. The dark channel map is obtained by using the dark channel prior algorithm, and the relationship between it and the transmittance is T(x)=1-wD(x) / A, wh...

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Abstract

The invention discloses a positioning and mapping method for a dangerous chemical accident environment by a mobile robot. The method is applied to a search and rescue mobile robot, positioning and mapping can be carried out on a complex dangerous chemical accident site, the illumination and smoke influence caused by dangerous chemical explosion and the like is weakened to a certain extent, and therobustness and precision of positioning and mapping under the accident occurrence condition are improved. The core of the method is that a space-time Markov random field method is used for carrying out image defogging processing; a stable monocular vision SLAM (Simultaneous Localization and Mapping) method based on a feature point method is adopted to fuse IMU sensor data to position and map a dangerous chemical accident by the mobile robot, and the environment exploration capability of the robot under the dangerous chemical accident condition is further improved.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and relates to a positioning and mapping method for a mobile robot based on monocular vision and an IMU sensor for preprocessing smoke in a dangerous chemical accident environment. Background technique [0002] In recent years, accidents in the hazardous chemical environment have occurred frequently, and the safety issues in special environments such as the hazardous chemical environment have attracted more and more attention. The emergency environment of hazardous chemical accidents is complex and has a high risk factor, and the explosion or leakage of hazardous chemicals will cause light and smoke pollution. Considering the complexity and danger of the environment, the mobile robot explores the environment through autonomous positioning and mapping, and improves the robustness and accuracy of positioning and mapping in this environment to a certain extent. [00...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20
Inventor 曹政才谢红玉黄冉胡标周萌
Owner BEIJING UNIV OF CHEM TECH
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