Tightly Coupled SLAM System of Intelligent Inspection Robot for Underground Cable Trench
The daily inspection of underground cable trenches is labor-intensive and has potential hazards,it is an urgent problem to be solved to maintain the stability of urban power system.Intelligent inspection robot system is the trend to solve this problem.The capabilities of synchronous positioning and real-time map construction are the prerequisite for autonomous inspection of under-ground cable trench robots.The underground cable trenches have the characteristics of bottom texture,structure,complex road roughness,poor GPS signal and other scenes.The map degradation and positioning accuracy decrease often occur when the inspection robot builds the structured scene.To solve the above problems,a multi-sensor simultaneous localization and mapping(SLAM)sys-tem is designed,multiple sensor data are integrated by the 2D LiDAR,inertial measurement unit(IMU)and wheeled odometer,it optimizes the robot odometer through the adaptive initialization.An adaptive inter-frame registration method is designed to correct the matching errors of adjacent laser key frames under different pavement flatness.Field experimental results show that compared with the existing methods in the complex underground cable trench scenario,the degradation rate and location error of the proposed method are reduced by 7.42％and 8.73％,respectively,and it has a clear engineering application value.
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