Transformer substation robot dual positioning method and system based on vision and GPS
The invention provides a transformer substation robot dual positioning method and system based on vision and a GPS. The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration er...
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| creator | LIU JIAKE HUANG CONG XUE SHUANGZHONG SUN XIAODONG WANG XIANHUA MING YU LIANG TAO YANG JIE FU CHONGGUANG GONG FANGBIN |
| description | The invention provides a transformer substation robot dual positioning method and system based on vision and a GPS. The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration error threshold value is greater than the registration error threshold value, determining that the point cloud registration positioning of the transformer station robot fails; acquiring GPS positioning data when registration positioning fails, and generating a visual feature matching range according to the GPS positioning data; visual features are extracted according to the visual image data, a feature map is matched in combination with a visual feature matching range, and the current pose of the robot after dual positioning is obtained; the problem that the position is easy to lose through laser radar positioning and navigation is solved, a design scheme of saving computing power is adopted, the problem that an indu |
| format | Patent |
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The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration error threshold value is greater than the registration error threshold value, determining that the point cloud registration positioning of the transformer station robot fails; acquiring GPS positioning data when registration positioning fails, and generating a visual feature matching range according to the GPS positioning data; visual features are extracted according to the visual image data, a feature map is matched in combination with a visual feature matching range, and the current pose of the robot after dual positioning is obtained; the problem that the position is easy to lose through laser radar positioning and navigation is solved, a design scheme of saving computing power is adopted, the problem that an indu</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; GYROSCOPIC INSTRUMENTS ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; SURVEYING ; TESTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230404&DB=EPODOC&CC=CN&NR=115902977A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230404&DB=EPODOC&CC=CN&NR=115902977A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LIU JIAKE</creatorcontrib><creatorcontrib>HUANG CONG</creatorcontrib><creatorcontrib>XUE SHUANGZHONG</creatorcontrib><creatorcontrib>SUN XIAODONG</creatorcontrib><creatorcontrib>WANG XIANHUA</creatorcontrib><creatorcontrib>MING YU</creatorcontrib><creatorcontrib>LIANG TAO</creatorcontrib><creatorcontrib>YANG JIE</creatorcontrib><creatorcontrib>FU CHONGGUANG</creatorcontrib><creatorcontrib>GONG FANGBIN</creatorcontrib><title>Transformer substation robot dual positioning method and system based on vision and GPS</title><description>The invention provides a transformer substation robot dual positioning method and system based on vision and a GPS. The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration error threshold value is greater than the registration error threshold value, determining that the point cloud registration positioning of the transformer station robot fails; acquiring GPS positioning data when registration positioning fails, and generating a visual feature matching range according to the GPS positioning data; visual features are extracted according to the visual image data, a feature map is matched in combination with a visual feature matching range, and the current pose of the robot after dual positioning is obtained; the problem that the position is easy to lose through laser radar positioning and navigation is solved, a design scheme of saving computing power is adopted, the problem that an indu</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>SURVEYING</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZAgPKUrMK07LL8pNLVIoLk0qLkksyczPUyjKT8ovUUgpTcxRKMgvzgSJZealK-SmlmTkpygk5qUoFFcWl6TmKiQlFqemKAB1lGUWgzSCpNwDgnkYWNMSc4pTeaE0N4Oim2uIs4duakF-fGpxQWJyal5qSbyzn6GhqaWBkaW5uaMxMWoAnK86GA</recordid><startdate>20230404</startdate><enddate>20230404</enddate><creator>LIU JIAKE</creator><creator>HUANG CONG</creator><creator>XUE SHUANGZHONG</creator><creator>SUN XIAODONG</creator><creator>WANG XIANHUA</creator><creator>MING YU</creator><creator>LIANG TAO</creator><creator>YANG JIE</creator><creator>FU CHONGGUANG</creator><creator>GONG FANGBIN</creator><scope>EVB</scope></search><sort><creationdate>20230404</creationdate><title>Transformer substation robot dual positioning method and system based on vision and GPS</title><author>LIU JIAKE ; HUANG CONG ; XUE SHUANGZHONG ; SUN XIAODONG ; WANG XIANHUA ; MING YU ; LIANG TAO ; YANG JIE ; FU CHONGGUANG ; GONG FANGBIN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN115902977A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2023</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>SURVEYING</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LIU JIAKE</creatorcontrib><creatorcontrib>HUANG CONG</creatorcontrib><creatorcontrib>XUE SHUANGZHONG</creatorcontrib><creatorcontrib>SUN XIAODONG</creatorcontrib><creatorcontrib>WANG XIANHUA</creatorcontrib><creatorcontrib>MING YU</creatorcontrib><creatorcontrib>LIANG TAO</creatorcontrib><creatorcontrib>YANG JIE</creatorcontrib><creatorcontrib>FU CHONGGUANG</creatorcontrib><creatorcontrib>GONG FANGBIN</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LIU JIAKE</au><au>HUANG CONG</au><au>XUE SHUANGZHONG</au><au>SUN XIAODONG</au><au>WANG XIANHUA</au><au>MING YU</au><au>LIANG TAO</au><au>YANG JIE</au><au>FU CHONGGUANG</au><au>GONG FANGBIN</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Transformer substation robot dual positioning method and system based on vision and GPS</title><date>2023-04-04</date><risdate>2023</risdate><abstract>The invention provides a transformer substation robot dual positioning method and system based on vision and a GPS. The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration error threshold value is greater than the registration error threshold value, determining that the point cloud registration positioning of the transformer station robot fails; acquiring GPS positioning data when registration positioning fails, and generating a visual feature matching range according to the GPS positioning data; visual features are extracted according to the visual image data, a feature map is matched in combination with a visual feature matching range, and the current pose of the robot after dual positioning is obtained; the problem that the position is easy to lose through laser radar positioning and navigation is solved, a design scheme of saving computing power is adopted, the problem that an indu</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Transformer substation robot dual positioning method and system based on vision and GPS |
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