Simultaneous localization and mapping system and method assisted by search and rescue robot arms

A technology of robot arm and environment map, applied in the field of robots, to achieve the effect of perception, precise perception, and preventing trapped persons and victims from being discovered

Active Publication Date: 2017-05-17
SHANDONG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] In order to solve the deficiencies in the prior art, the present invention provides a search and rescue robot arm-assisted simultaneous positioning and construction of an environmental map system, which has the effect of simultaneous positioning and construction of an environmental map, and solves the perception problem when the search and rescue robot constructs an environmental map

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  • Simultaneous localization and mapping system and method assisted by search and rescue robot arms

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Embodiment Construction

[0029] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0030] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0031] figure 1 It is a structural schematic diagram of a search and rescue robot arm assisting simultaneous po...

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Abstract

The invention discloses a simultaneous localization and mapping system and method assisted by search and rescue robot arms. The system comprises a robot body, wherein a robot controller, a location sensor module, an image collecting module and robot arms are arranged on the robot body; the robot arms are connected with an arm driving mechanism, the arm driving mechanism is connected with the robot controller, and the locate sensor module and the image collecting module are respectively connected with the robot controller; the locate sensor module can detect position information of an appointed target in real time and send the position information into the robot controller, and the image collecting module can collect image information around a robot in real time and send the image information into the robot controller; the robot controller is used for performing point-cloud matching to construct a target environmental map according to the received image information and the position information of the appointed target; the robot controller is further used for outputting pulse signals to the arm driving mechanism in real time according to the constructed target environmental map to control the robot arms to achieve search-rescue work.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a search and rescue robot arm-assisted simultaneous positioning and construction environment map system and method. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. Search and rescue robot is a robot developed by advanced science and technology for rescue, such as an earthquake rescue robot, which is a robot specially used to find survivors in the ruins of underground shopping malls after a major earthquake to perform rescue tasks. [0003] At present, when the search and rescue robot simultaneously locates and constructs the environmental map (simultaneous localization and mapping, SLA...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 张承进王洪玲宋勇庞豹
Owner SHANDONG UNIV
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