This invention provides a
laser SLAM inspection vehicle and method suitable for complex underground infrastructure environments. A multi-line
lidar system is equipped with multiple
laser emission and reception channels to generate high-density, large-area 3D
point cloud data. A high-precision
inertial measurement unit (IMU) provides the
system with high-frequency attitude,
angular velocity, and acceleration information. A wheeled
odometer collects wheel speed data to provide short-term
pose increment information, effectively supplementing the
lidar and IMU. An
edge computing device performs real-
time data processing using SLAM algorithms. An embedded
motion control unit runs an
operating system to precisely control the
chassis motors and transmit data with various subsystems. The
software framework is built on the
operating system and includes distributed nodes, a publish / subscribe communication model, and an open-source toolkit
ecosystem. This achieves lightweight 3D
perception capabilities, strong anti-interference performance, and supports
fully automatic online repositioning, making it suitable for use in underground infrastructure such as subway tunnels, urban utility tunnels, and large warehousing centers.