摘要
高精度和高频率的定位技术是保障空中建筑机器人高效、安全作业的关键。针对特征稀少的空中施工环境及夜晚保持作业的施工要求,提出了一种建筑机器人外墙定位算法,该算法基于扩展卡尔曼滤波器(EKF),融合惯性测量单元(IMU)和单线激光雷达数据,其中IMU用于滤波器的状态预测,同时还开发了一种适应建筑墙体特征的单线激光雷达定位方法,用于滤波器的观测更新。实验表明融合定位算法可以提高位置姿态估计频率,且定位精度较高,其中X轴最大晃动800 mm、Y轴最大晃动350 mm时,平均绝对误差均小于4 mm,偏航角最大扭转11°时,平均绝对误差小于0.1°,能够满足实际工程需要。
High-precision and high-frequency positioning technologies are crucial for ensuring the efficiency and safety of aerial construction robots.In response to the feature-sparse aerial construction environments and the requirement to maintain operations at night,a novel localization algorithm for construction robots'exterior walls is proposed.This algorithm integrates the Extended Kalman Filter(EKF)with an Inertial Measurement Unit(IMU)and a single-line laser radar.The IMU facilitates state prediction for the filter,and a single-line laser radar positioning method adapted to building wall features is proposed for the observation update of filters.The experimental results show that the integrated positioning algorithm can improve the frequency of position and attitude estimation with the positioning accuracy being relatively high.Among them,the average absolute error is less than 4 mm when the maximum swaying of X-axis is 800 mm and the maximum swaying of Y-axis is 350 mm,while the average absolute error is less than 0.1°when the maximum twisting of yaw angle is 11°,meeting the needs of actual engineering.
作者
江欣
马俊燕
正端
廖小平
鲁娟
JIANG Xin;MA Jun-yan;ZHENG Duan;LIAO Xiao-ping;LU Juan(School of Mechanical Engineering,Guangxi University,Nanning 530004;Guangxi Key Laboratory of Manufacturing Systems and Advance Manufacturing Technology,Guangxi University,Nanning 530004;Zanecon Technology(Shenzhen)Company Limited,Shenzhen 518126;Department of Mechanical and Marine Engineering,Beibu Gulf University,Qinzhou 535011)
出处
《制造业自动化》
2025年第6期16-22,共7页
Manufacturing Automation
基金
国家自然科学基金(52165062)
广西自然科学基金重点项目(2020JJD160004)。
