Air-ground cooperative intelligent inspection robot and inspection method

Abstract

The invention relates to an air-ground cooperative intelligent inspection robot. The robot comprises a robot platform and an unmanned aerial vehicle, wherein the robot platform comprises a vehicle body, wheels, a driving assembly, a mechanical arm, an environment sensing assembly, a communicator, a robot controller and a power supply assembly, and the unmanned aerial vehicle is in communication connection with a base station through the communicator. The inspection method comprises the following steps that air-ground cooperative multi-robot positioning and mapping is carried out, specifically,sensing positioning calculation is carried out, map creation is carried out, and multi-information fusion positioning is carried out; and air-ground cooperative tracking and control is carried out, specifically, unmanned aerial vehicle flight control design is carried out, robot platform trajectory tracking control is carried out, and unmanned aerial vehicle self-help landing control is carried out. The robot can be ensured to execute given navigation and inspection tasks in an omnibearing and all-weather mode, the technologies of the Internet of Things, artificial intelligence and the like are applied, environment sensing, dynamic decision making, behavior control and alarm devices are integrated, the robot has the capabilities of autonomous sensing, walking, protection, interactive communication and the like, basic, repeated and dangerous security work can be completed, and the security operation cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an air-ground collaborative intelligent inspection robot and an inspection method. Background technique [0002] In recent years, major explosion accidents in the chemical industry are mainly caused by leakage of hazardous chemicals, and the main reason for leakage accidents is insufficient inspection. In order to reduce the incidence of safety accidents in the chemical industry, patrol inspection has become one of the essential tasks in the chemical industry. At present, maintenance and inspection operations are mainly completed manually. Due to the uneven quality of personnel, there are usually problems such as weak safety awareness, non-fulfillment of safety responsibilities, and inadequate safety supervision work, making it difficult to guarantee the reliability and accuracy of inspection work. In addition, the chemical industry usually covers a large area and con...

AI Technical Summary

Problems solved by technology

[0006] A single unmanned vehicle inspection equipment is limited by its own working principle, and has too high requirements for the smoothness of the road surface, so it cannot perform inspection work on rough roads, climbing stairs, and high-altitude environments; a single unmanned vehicle inspection equipment is limited by its cruise capability , the flight time and load capacity are very limited, it is impossible to carry a variety of sensors, and it cannot fly long distances

[0007] 2. Lack of autonomous mobile platforms that can carry drones:

[0008] At the present stage, when the inspection drones are performing tasks, operators still need to take them to the designated place by means of transportation. This inspection method still has shortcomings such as low efficiency and waste of human and material resources.

[0009] 3. Lack of autonomy:

[0010] At the current stage, when the drones are performing inspection tasks, operators still need to remotely control the drones on site to collect images of the chemical environment and equipment at close range. This inspection method lacks autonomy and inspection efficiency is low.

[0011] 4. Lack of explosion-proof performance:

[0012] Unmanned vehicles and drones at this stage usually do not have explosion-proof performance. High-speed brushless motors and high-energy batteries will generate ultra-high currents. Once they come into contact with flammable gases, they will e

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