A space-ground collaborative building surveying and mapping robot system and its surveying and mapping method
A robot system and air-ground collaboration technology, applied in the field of robot perception, can solve problems such as low degree of automation, poor modeling integrity, and low efficiency
Active Publication Date: 2021-12-24
HUNAN UNIV
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Problems solved by technology
[0006] Aiming at the problems of low degree of automation and incomplete scenes in existing building 3D reconstruction methods, the present invention proposes an air-ground collaborative building surveying and mapping robot system and its surveying and mapping method, which combines multi-sensor fusion technology and two-machine cooperative positioning and The motion characteristics of mobile robots and aerial drones solve the problems of poor modeling integrity, poor accuracy, and low efficiency in architectural surveying and mapping of current mainstream solutions
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[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. And the features in the embodiments can be combined with each other.
[0049] Such as figure 1 As shown, the present invention provides an air-ground collaborative building surveying and mapping robot system, including an aerial drone 1, a ground mobile robot 2 and a server terminal 3, wherein: the aerial drone 1 is used for aerial surveying and mapping of buildings, and carries a first Lidar, the first IMU (Inertial Measurement Unit, inertial measurement unit), binocular fisheye camera, the first color camera, the first processor; the ground mobile robot 2 is used for building ground surveying and mapping, carrying the second laser radar, The second IMU, the second color camera, the second processor; the server terminal 3 ...
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The invention discloses an air-ground collaborative building surveying and mapping robot system and its surveying and mapping method, including an aerial drone, a ground mobile robot and a server terminal. The aerial drone carries a first laser radar, a first IMU, and a binocular fisheye camera. , the first color camera, and the first processor, establish the first local point cloud model of the building based on its top surface and high elevation through the aerial drone; the ground mobile robot carries the second laser radar, the second IMU, The second color camera and the second processor establish the second local point cloud model of the building based on the bottom of the building through the ground mobile robot; the server terminal is connected to the aerial drone and the ground mobile robot through the wireless communication module, and is completed on the server terminal The fusion of the first local point cloud model and the second local point cloud model generates a complete building point cloud model. While improving the modeling integrity, the present invention also has the advantages of accurate precision and high efficiency.
Description
technical field [0001] The invention belongs to the technical field of robot perception, and in particular relates to an open-ground collaborative building surveying and mapping robot system and a surveying and mapping method thereof. Background technique [0002] In recent years, with the emergence of new requirements such as digital cities, digital protection of ancient buildings, digital management of building construction, and virtual roaming of buildings, traditional two-dimensional plane drawings have no way to meet these needs. Three-dimensional models are intuitive and complete, and can reflect Complicated architectural structure and architectural space, location, texture information. How to efficiently and automatically build a real 3D model of a building has become an urgent scientific and engineering problem. [0003] At present, the mainstream solutions for architectural surveying and mapping can be divided into laser scanning solutions and oblique photography s...
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IPC IPC(8): G01C11/08G01C11/34G01C21/16G01S17/86G06K9/46
CPCG01C11/08G01C11/34G01C21/16G01S17/86G06V10/44
Inventor 王耀南李璟王蔚缪志强陈少斌赵佳文范泷文
Owner HUNAN UNIV