Construction Of The Tunnel Semantic Map And Insecption Robot Heterogeneous Information Instant Positioning

With the development of automatic inspection of underground pipe gallery,the problem of robot positioning becomes increasingly prominent,so a simple and reliable positioning method is urgently needed.Although GPS system effectively solves the general accuracy positioning problem of outdoor moving objects,because there is no GPS signal in the tunnel,mobile positioning must find another way.At the same time,considering the particularity of the tunnel environment,that is,the cross-section size is far less than the tunnel length,so the robot positioning in the tunnel is mainly determined along the tunnel depth direction.In this paper,we use the original method similar to human to determine their own position,using camera and tunnel semantic map and other heterogeneous information such as odometer to realize the real-time positioning of robot in the tunnel.It includes semantic map construction,feature matching and heterogeneous information fusion,and designs the experimental system.In the aspect of semantic map construction,this paper puts forward a scheme of constructing long volume map as location information base based on image mosaic,and corrects and marks the long volume map.In the aspect of feature matching,the real-time environment image captured by the robot camera is matched with the semantic map,so as to determine the position of the image in the long volume map and obtain the corresponding position of the robot in the tunnel.Considering the positioning error of the long volume map,this paper fuses the odometer and other heterogeneous information to improve the positioning accuracy.In terms of positioning strategy,this paper adopts different matching methods according to different environmental conditions.When the nearby objects are dense or not,it adopts the method of directly matching the picture with the map to locate.When there are few objects nearby,it adopts the method of matching the measured objects and looking up the table to deduce the position.Then,this paper introduces the construction process of tunnel semantic map from the aspects of software algorithm construction and hardware circuit architecture,and the construction process of heterogeneous information real-time positioning system experimental platform of inspection robot.Finally,the advantages and disadvantages of the system are summarized,and the future research direction is prospected.