Indoor and outdoor inspection robot integrated system and inspection robot navigation method
An inspection robot and integrated system technology, which is applied in the indoor and outdoor inspection robot integrated system and the inspection robot navigation field, can solve the problems of large error accumulation, hysteresis error in the starting acceleration change of the inspection robot, and inability to perform loopback detection, etc.
Inactive Publication Date: 2018-08-17
CHINA UNIV OF MINING & TECH
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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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[0027] The present invention will be further described through specific embodiments below in conjunction with the accompanying drawings.
[0028] like Figure 1 to Figure 4 As shown, a comprehensive indoor and outdoor inspection robot system includes a robot brain 1, a robot body 2, a binocular camera 3, an inertial navigation 4, a laser radar 5, an infrared laser transmitter 6, an infrared laser range finder 7, and a wireless network card 8. Signal relay device 9, 4G signal receiver 10 and server terminal 11; wherein:
[0029] The robot brain 1 can perform data communication with the server terminal 11 through the wireless network card 8 and the signal relay device 9, and can also perform data communication with the server terminal 11 through the 4G signal receiver 10;
[0030] The binocular camera 3 is fixed on the top of the robot main body 2, and the infrared laser transmitter 6 is fixed in the middle of the two lenses of the binocular camera 3;
[0031] The wireless net...
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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...
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IPC IPC(8): G01C21/20G01C21/16G01S17/88G01S17/89B25J19/02B25J13/00
CPCB25J13/006B25J19/022B25J19/023G01C21/165G01C21/206G01S17/88G01S17/89
Inventor 朱华陈常汪雷李振亚李猛钢由韶泽
Owner CHINA UNIV OF MINING & TECH
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