Petrochemical plant inspection robot environment modeling and map building device and method
An inspection robot and map construction technology, which is used in measurement devices, instruments, surveying and navigation, etc., can solve problems such as being unable to cope with a large number of indoor and sheltered environments, high equipment cost, and unfavorable for real-time map update, and achieves a high level of improvement. Adaptability and accuracy, guaranteeing safety and reliability, overcoming the effect of quality degradation
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[0057] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0058] A petrochemical plant inspection robot environment modeling and map construction device, such as figure 1 As shown, it includes a power supply module 1, an industrial computer 2, an inertial measurement module 3, a differential GPS module 4, a power conversion module 5, a signal isolation safety barrier module 6, a communication module 7 and an explosion-proof enclosure 11, and an explosion-proof enclosure 11 points Three cavities: main control cavity 8, wiring cavity 9 and power cavity 10, industrial computer 2, inertial measurement module 3, differential GPS module 4, power conversion module 5, signal isolation safety barrier module 6 and communication module 7 are installed in The main control cavity 8 and the connection cavity 9 transfer various power supply and communication cables, and the power cavity 10 is installed with the powe...
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