基于OpenCV的建筑设备巡检机器人定位精度检测算法

Detection algorithm of positioning accuracy of inspection robot for building equipment based on OpenCV

为了提高建筑设备巡检机器人的稳定性控制能力,提出基于OpenCV的建筑设备巡检机器人定位精度检测算法。采用相位式激光测距仪进行建筑设备巡检机器人的姿态和位置参数信息采集,采用OpenCV对采集图片信息进行优化,对优化后的信息进行融合处理,采用动态信息测量方法进行建筑设备巡检机器人物理信息融合和参数测量,结合机器人自身结构参数和物理参数进行特征匹配,建立机器人的环境参量和控制参数的特征匹配模型,提取建筑设备巡检机器人的位姿跟踪信息,根据建筑设备巡检现场的环境感知信息进行动态定位寻优,结合地图空间规划算法进行机器人定位检测过程中的自适应控制和位姿动态调节,实现机器人的动态定位和姿态可靠性控制。进行仿真测试,仿真结果表明,采用该方法进行建筑设备巡检机器人定位的精度较高,控制稳定性较好。

In order to improve the stability control ability of the construction equipment inspection robot,the positioning accuracy detection algorithm of the construction equipment inspection robot based on OpenCV is proposed.The phase laser rangefinder is used to collect the attitude and position parameter information of the construction equipment inspection robot.Opencv is used to optimize the collected image information,and the optimized information is fused.The dynamic information measurement method is used for the physical information fusion and parameter measurement of the construction equipment inspection robot Line feature matching is used to establish the feature matching model of environment parameters and control parameters of the robot.The position and pose tracking information of the construction equipment inspection robot is extracted.According to the environmental perception information of the construction equipment inspection site,the dynamic positioning optimization is carried out,and the adaptive control and dynamic adjustment of the position and posture in the process of the robot positioning and detection are carried out with the map space planning algorithm Dynamic positioning and attitude reliability control.The simulation results show that the positioning accuracy and control stability of this method are high.