Multi-sensing information fusion system for path planning robot and control method of multi-sensing information fusion system

Abstract

The invention discloses a multi-sensor information fusion system for a path planning robot and a control method of the multi-sensor information fusion system. The multi-sensor information fusion system comprises a data layer information fusion module which carries out the statistical analysis of original observation data of multiple sensors and completes the storage of the original data and the correlation between the original data, a feature layer information fusion module which is used for combining the feature vectors extracted from the original data, calculating and processing the feature vectors and carrying out fusion processing on the feature vectors so as to further reduce the processing amount of the original data and improve the processing speed and the real-time performance of the system, and a decision-making layer information fusion module which is used for carrying out independent data processing on the same observation target, including original observation data preprocessing, original information feature extraction and target identification judgment, obtaining a preliminary conclusion according to respective measurement results, and then fusing conclusions of all sensors to obtain a final judgment result of the observation target, so that the information of the multiple sensors is fused to obtain total data deployment.

Description

technical field [0001] The invention relates to a multi-sensor information fusion technology, in particular to a multi-sensor information fusion system for path planning robots and a control method thereof. Background technique [0002] Multi-sensor information fusion is the process of comprehensively processing information. Various sensors are processed with multi-level and multi-space information complementation and optimized combination, and finally produce a consistent interpretation of the observation environment. In this process, multi-source data must be fully utilized The ultimate goal of information fusion is to derive more useful information through multi-level and multi-faceted combination of information based on the separate observation information obtained by each sensor. [0003] Limited by the existing 2D Lidar working method, it is impossible to detect and avoid obstacles in the air and objects that appear in the three-dimensional direction, resulting in coll...

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Problems solved by technology

[0003] Limited by the existing 2D Lidar working method, it is impossible to detect and avoid obstacles in the air and objects that appear in the three-dimensional direction, resulting in collisions between robots, resulting in deviations in information fusion, and accumulation of data storage when faced with big data operations , thus affecting the response speed of the multi-sensor information fusion system; when dealing with different paths, it will cause the multi-sensor detection data to be inconsistent with the actual performance data, resulting in the deviation of the service robot's driving path

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