Patent ID: 11953903
Assignee: CHONGQING UNIVERSITY
Field: Control (Instruments)
Classification: CPC G  H | IPC G  H

Claim 2:
3. The neural network-based method for calibration and localization of an indoor inspection robot according to claim 2, wherein the computing positional information moved by the robot in step S300 specifically comprises:
S310: computing a theoretical resolution of an odometer:, δ
     =
     
      
       
        π
        ⁢
        D
       
       
        η
        ⁢
        P
       
      
      =
      
       
        
         
          3
          .
          1
         
         ⁢
         4
         ×
         2
         ⁢
         5
         ⁢
         0
        
        
         1
         ⁢
         5
         ×
         3
         ⁢
         6
         ⁢
         0
        
       
       =
       
        0.14537
           
        
         (
         mm
         )
        
       
      
     
    
   
   
    
     (
     
      3
      -
      2
     
     )
    
   
  
 

wherein, δ represents the theoretical resolution of the odometer, D represents a diameter (mm) of a wheel, η represents a reduction ratio of a drive motor, and P represents an accuracy of an encoder;
S320: assuming that a sampling interval is Δt, then computing a displacement increment ΔdL(ΔdR) of a left (right) wheel:

ΔdL=δ·NL  (3-3)

wherein, NL(NR) represent a pulse increment output by a photoelectric encoder on the left (right) drive wheel;
S330: computing the pose increment of the robot with the displacement increment of the wheel:, {
     
      
       
        
         
          Δ
          ⁢
          
           D
           t
          
         
         =
         
          
           (
           
            
             Δ
             ⁢
             
              d
              L
             
            
            +
            
             Δ
             ⁢
             
              d
              R
             
            
           
           )
          
          /
          2
         
        
       
      
      
       
        
         
          Δ
          ⁢
          
           θ
           t
          
         
         =
         
          
           (
           
            
             Δ
             ⁢
             
              d
              R
             
            
            -
            
             Δ
             ⁢
             
              d
              L
             
            
           
           )
          
          /
          β
         
        
       
      
     
    
   
   
    
     (
     
      3
      -
      4
     
     )
    
   
  
 

wherein, β represents a distance between the left drive wheel and the right drive wheel; and
S340: obtaining, in case of a difference |Δθt|>0 between direction angles at an end pose and a start pose of the robot, the positional information of the robot.