Patrol robot localization method for transformer station environment

• Main Authors: CHEN RUSHEN, SONG JIANTAO, LI YONGYUE
• Format: Patent
• Language: Chinese; English
• Published: 14.07.2017
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a patrol robot localization method for a transformer station environment. When the robot is in a static environment, a Monte Carlo localization method is adopted, and environment information and map are scanned through laser for matching. When the robot enters a changed area in comparison with the environment during mapping, existing map localization will not be used any longer, and mapping and localization are carried out at real time by a SLAM algorithm. When the robot leaves the area and enters the static environment once again, the Monte Carlo localization is switched back. The switching between the two localization modes is realized through a localization management node. By combining characteristics of the two algorithms, the Monte Carlo localization method is used for localization in the static environment of a transformer substation. By switching to the SLAM mode in a bush area, accurate localization of the robot can be realized in the whole transformer station environment, and