Indoor and outdoor inspection robot integrated system and inspection robot navigation method

Abstract

The invention discloses an indoor and outdoor inspection robot integrated system and an inspection robot navigation method. The indoor and outdoor inspection robot integrated system comprises a robotbrain, a robot body, a binocular camera, inertial navigation, laser radar, an infrared laser emitter, an infrared laser distance measuring instrument, a wireless network card, signal relay devices, a4G (the fourth generation of mobile phone communication technology standards) signal receiver and a server terminal. The robot brain can be in data communication with the server terminal via the wireless network card and the signal relay devices and also can be in data communication with the server terminal via the 4G signal receiver; the binocular camera is fixed to the top of the robot body, andthe infrared laser emitter is fixed to a position between two lenses of the binocular camera; information can be transmitted between the robot brain and each of the binocular camera, the inertial navigation, the laser radar, the infrared laser emitter and the infrared laser distance measuring instrument. The indoor and outdoor inspection robot integrated system and the inspection robot navigationmethod have the advantages that an inspection robot can be effectively communicated with the server terminal indoors and outdoors and can be accurately navigated, and high-precision feature point maps can be built.

Description

technical field [0001] The invention relates to the field of inspection robots, in particular to an indoor and outdoor inspection robot comprehensive system and a navigation method for an inspection robot. Background technique [0002] With the advancement of science and technology, inspection robots are more and more widely used in industrial, civil, military and other fields. In many cases, the information of the workspace of the inspection robot is unknown and dynamic and complex. If the inspection robot wants to realize autonomous navigation indoors and outdoors, it needs a comprehensive system to ensure its positioning, navigation, target recognition and real-time communication with the terminal. [0003] Today's mobile robot navigation methods mainly include four methods: electromagnetic navigation, inertial navigation, UWB navigation and GPS satellite navigation. Electromagnetic navigation was developed in the United States in the 1950s. By the 1970s, this navigatio...

AI Technical Summary

Problems solved by technology

However, the simple inertial measurement unit has a large error accumulation under repeated paths, and cannot perform effective loop detection

In addition, due to the random walk of the inertial measurement unit, a large amount of hysteresis error will be generated when the inspection robot starts and the acceleration changes greatly.

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