Wall-climbing robot remote positioning and map building device and method

Abstract

The invention belongs to the field of wall-climbing robots, and provides a wall-climbing robot remote positioning and map building device and method, and the device comprises a combined frame, a motordrive module, an identification module, a laser array, a differential RTK positioning module, a horizontal bubble, a PC, and upper computer software. The differential RTK positioning module is adopted to position the wall-climbing robot; remote identification and surrounding environment feature identification are carried out on the robot through the identification module; a two-degree-of-freedomholder is constructed by adopting a motor driving module, and the visual field direction of the camera and the robot space coordinates output by the differential RTK positioning module is changed inreal time to perform data matching; an image scale is constructed by adopting a laser array, wall surface features are positioned, and the construction process of the environment map of the wall-climbing robot is completed. The wall-climbing robot navigation system is suitable for various wall-climbing robots, can be used in wall surface environments such as ship shells, oil storage tanks and building outer walls, can provide navigation information for the wall-climbing robots, and is beneficial to development of the wall-climbing robot technology towards the unmanned operation direction.

Description

technical field [0001] The invention belongs to the field of wall robots, and relates to a device and method for remote positioning and map construction of a wall climbing robot. Background technique [0002] Wall-climbing robots can be used to replace labor to complete labor-intensive operations in dangerous areas (such as building exterior walls, ship cleaning, bridge maintenance, etc.). Wall-climbing robots are generally controlled remotely by humans, and their work efficiency is limited by the operator's experience and ability to judge with the naked eye. In order to develop the unmanned operation technology of wall-climbing robots, it is necessary to use specific equipment to obtain the real-time positioning coordinates of the robot and the environmental characteristics around the robot, so as to establish the environmental map of the robot and realize the autonomous navigation function of the robot. Contents of the invention [0003] In order to solve the above-ment...

AI Technical Summary

Problems solved by technology

Wall-climbing robots are generally controlled remotely by humans, and their work efficiency is limited by the operator's experience and ability to judge with the naked eye.

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