Cave detection crawling robot capable of drawing 3D map and transmitting images in real time

Abstract

The invention discloses a cave detection crawling robot capable of drawing 3D maps and transmitting images in real time. The robot comprises a fixed plate supporting frame and four supporting legs. Each supporting leg comprises an upper steering engine, a boom connecting rod, a middle steering engine, a forearm connecting rod, a lower steering engine, and a clamp part. The fixed plate supporting frame is respectively mounted with an embedded control module, a wireless communication module, a motion module, an ultrasonic ranging module, and a machine vision module. The invention transmits the distance data measured by the ultrasonic range finder to an upper computer in real time through the wireless communication module during the movement of the robot by enabling a flexible crawling robotcarrying the ultrasonic range finder enters the unknown area of the cave, and then processes the date by using the drawing software in the upper computer to realize real-time drawing of the three-dimensional map. According to the cave detection crawling robot capable of drawing 3D maps and transmitting images in real time, the synchronous monitoring of the operation personnel on the unknown area is realized by enabling a flexible crawling robot carrying a machine vision module openMV enters the tested areas.

Description

technical field [0001] The invention relates to the field of land quadruped bionic crawling robots, in particular to a cave detection crawling robot capable of drawing 3D maps and transmitting images in real time. Background technique [0002] Crawling robot is a kind of mobile robot, which corresponds to ordinary wheel robot or crawler robot, and has the characteristics of being more adaptable to changing terrain. At present, crawling robots are mostly used for pipeline monitoring, which can realize engineering self-inspection for pipeline network construction units, spot check construction status at any time, avoid construction loopholes, provide evaluation basis for completion acceptance of construction projects and general inspection, maintenance, repair and maintenance of in-service pipelines. The detection of the internal conditions of various storage tanks and boxes is one of the necessary equipment for renovation, maintenance and general survey of pipelines in water ...

AI Technical Summary

Problems solved by technology

[0003] Because the working surface in the pipeline is relatively flat and the fluctuation is small, the adaptability of the crawling robot used in the pipeline to the terrain is usually low; and the pipeline robot usually knows the structure and direction of the pipeline, The monitoring and maintenance of pipelines does not have the ability to collect real-time information of topography and geomorphology and to search and map. Therefore, when exploring some unknown terrains in scientific research and archaeological cave exploration, the existing pipeline crawling robot technology is not enough to meet the needs of researchers. Requirements

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