Device and method for composition based on small quad-rotor unmanned aerial vehicle

Abstract

The invention relates to a device and method for composition based on a small quad-rotor unmanned aerial vehicle and belongs to the technical field of mobile robot positioning and navigation. The small quad-rotor unmanned aerial vehicle can rapidly enter a complex environment which a mobile robot cannot enter, carried laser radar is utilized to construct a two-dimensional map in real time according to an SLAM method, self localization and navigation of the unmanned aerial vehicle can be achieved by combining an IMU device and the like, and efficient exploration of a true complex area is achieved; the height of the small quad-rotor unmanned aerial vehicle can be conveniently adjusted to obtain two-dimensional maps on horizontal planes of different heights; the small quad-rotor unmanned aerial vehicle is rapid in movement speed and more flexible, movement and mapping of the small quad-rotor unmanned aerial vehicle are not subject to disturbance of obstacles on the ground, the range limitation of a detecting robot is broken through, the small quad-rotor unmanned aerial vehicle is extremely high in practical value, and accurate and rapid map construction can be achieved; compared with robot environment composition, the rotor wing robot can perform environment scouting more rapidly and more flexibly, and three-dimensional spatial images can be obtained.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and in particular relates to a composition device and method based on a small quadrotor drone. Background technique [0002] In recent years, with the rapid development of mobile robots, more and more attention has been paid to the positioning and navigation of mobile robots. Realizing autonomous positioning and navigation is an important prerequisite for robots to complete various tasks, and the key to realizing positioning and navigation is to establish complete map information. Therefore, two-dimensional composition is of great significance to the development of mobile robot technology. With the continuous development of technology, the requirements for map creation are getting higher and higher, especially for complex occasions such as disaster sites with many obstacles, complex structures, and high requirements for real-time mapping, traditional map creation m...

AI Technical Summary

Problems solved by technology

With the continuous development of technology, the requirements for map creation are getting higher and higher, especially for complex occasions such as disaster sites with many obstacles, complex structures, and high requirements for real-time mapping, traditional map creation methods are difficult. competent

The map creation method based on machine vision can only create height information maps, the map information is relatively simple, and the image processing requires high computer requirements, and the map building speed is not ideal

In response to these situations, a method of creating a map (SLAM, Simultaneous localization and mapping) while moving a mobile robot has emerged. This method overcomes some of the above-mentioned obstacles to a certain extent, but there are still many disadvantages: the movement of the robot depends on Tracks or wheels, it is difficult to achieve steering in a small space, and the robot can only move on the ground and is easily interfered by obstacles on the ground; in a multi-floor environment, the robot can only explore within a limited range of floors. It is difficult to enter the high-floor area, and the range of movement is greatly limited, and it is impossible to realize the reconnaissance and composition of complex environments; the ground mobile robot can only move on the ground, and the two-dimensional map it builds is limited to a height close to the ground , the obtained map information is too single, and the application value and scope of use are greatly limited.

Therefore, it is difficult to achieve the desired effect by using the above two methods to perceive and explore indoor environmental information.

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