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System and method for 3D surveying and mapping of complex terrain by dual hexapod robot with self-built reference system

A hexapod robot, three-dimensional technology, applied in surveying and navigation, radio wave measurement system, satellite radio beacon positioning system and other directions, can solve the problem of low positioning accuracy, achieve simple operation, superior performance, simple system structure Effect

Active Publication Date: 2019-06-04
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the low positioning accuracy of the single hexapod robot platform at present, and propose a self-built reference system dual hexapod robot complex terrain three-dimensional surveying and mapping system and method, which has simple operation, excellent performance, small data error, and can be applied Surveying and mapping of complex terrain such as various mountains

Method used

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  • System and method for 3D surveying and mapping of complex terrain by dual hexapod robot with self-built reference system
  • System and method for 3D surveying and mapping of complex terrain by dual hexapod robot with self-built reference system
  • System and method for 3D surveying and mapping of complex terrain by dual hexapod robot with self-built reference system

Examples

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Embodiment 1

[0031] see figure 1 , the dual hexapod robot complex terrain 3D surveying system of self-built reference system, including processing center unit (1), UAV relay unit (2), cruise measurement subsystem A (3) and cruise measurement subsystem B (4), the basic feature of which is: the processing center unit (1) and the UAV relay unit (2) are connected in a wired and wireless manner; the UAV relay unit (2) is connected to the cruise The measurement subsystem A (3) and the cruise measurement subsystem B (4) are wirelessly connected. Said cruise measurement subsystem A (3) and cruise measurement subsystem B (4) are respectively installed in two different hexapod robot platforms.

Embodiment 2

[0032] Embodiment two: this example is basically the same as embodiment one, and the special features are as follows:

[0033] see figure 1 , Cruise measurement subsystem A (3) includes: sensor unit A (3.1), wireless transceiver unit A (3.2), main control board unit A (3.3), steering gear control board unit A (3.4), hexapod robot A ( 3.5) and the energy-saving power supply control module (3.6), the main control board unit A (3.3) is connected to the sensor unit A (3.1), the wireless transceiver unit A (3.2), and the steering gear control board (3.4), the steering gear The control board A (3.4) is connected to the hexapod robot A (3.5), and the energy-saving power supply control module (3.6) is connected to the sensor unit A (3.1), the wireless transceiver unit A (3.2), the main control board unit A (3.3), the rudder Machine control board unit A (3.4), hexapod robot A (3.5).

[0034] refer to figure 1 , cruise measurement subsystem B (4) includes: sensor unit B (4.1), wirele...

Embodiment 3

[0037] Embodiment 3: The self-built reference system of the double hexapod robot complex terrain three-dimensional surveying method adopts the above-mentioned operation, and its characteristics include the following operation route flow: 1) The route flow of cruise measurement subsystem A and cruise measurement subsystem B (5 ), 2) Cruise measurement subsystem A detour route process (6), 3) Cruise measurement subsystem A uplink and downlink route process (7), 4) Cruise measurement subsystem B detour route process (8), 5) Cruise Measurement subsystem B uplink and downlink route process (9), 6) Cruise measurement subsystem A and cruise measurement subsystem B data interaction process (10).

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Abstract

The invention relates to a system and a method for three-dimensional surveying and mapping of a complex terrain with double hexapod robots for establishing a reference system by self. The system consists of a processing center unit, an unmanned relay unit, a cruising measurement subsystem A and a cruising measurement subsystem B. The method comprises the following operation steps: testing routes of the cruising measurement subsystem A and the cruising measurement subsystem B, testing a bypass route of the cruising measurement subsystem A, testing an up and down route of the cruising measurement subsystem A, testing a bypass route of the cruising measurement subsystem B, testing an up and down route of the cruising measurement subsystem B, and performing data interaction with the cruising measurement subsystem A and the cruising measurement subsystem B. By adopting the system and the method, not only is terrain drawing on a common road achieved, but also three-dimensional surveying and mapping in the complex terrain or an environment which cannot be accessible by human beings can be achieved, and the system and the method are applicable to multiple environments. The system provided by the invention is simple in structure, simple and convenient to operate, excellent in property and applicable to three-dimensional surveying and mapping of various complex terrains.

Description

technical field [0001] The invention relates to a three-dimensional surveying and mapping system and method for a hexapod robot, in particular to a three-dimensional surveying and mapping system and method for a dual hexapod robot with a self-built reference system for complex terrain. Background technique [0002] In recent years, robot technology is changing with each passing day, and mobile robot is one of the research hotspots in the field of robot technology. We urgently need a robot to explore unknown spaces, and can adapt to harsh working environments, reach areas that cannot be set foot by creatures, and collect more accurate data. Traditional mobile robots mainly include tracked robots, wheeled robots, and footed robots. Although tracked robots and wheeled robots are fast, they have higher requirements on the road environment, and they are easy to move on rough roads such as gravel, deserts, and mountains. The car is overturned or stuck, and cannot quickly climb ov...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C21/16G01S19/49
CPCG01C11/00G01C21/165G01S19/49
Inventor 张金艺秦刘焕周卓敏苏全程李鹏
Owner SHANGHAI UNIV