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Intelligent autonomous navigation method for reconnaissance of crawler-type chassis robot

A technology of autonomous navigation and robotics, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inaccurate information collection

Pending Publication Date: 2021-03-19
新兴际华集团有限公司
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, the collection of environmental information is generally carried out by drones carrying relevant sensors. Due to the complexity of the accident scene, it is often impossible to accurately collect information in explosive environments

Method used

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  • Intelligent autonomous navigation method for reconnaissance of crawler-type chassis robot
  • Intelligent autonomous navigation method for reconnaissance of crawler-type chassis robot

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Embodiment Construction

[0034] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] ginseng figure 1 As shown, the present embodiment provides a crawler chassis robot reconnaissance intelligent autonomous navigation method, including the following steps:

[0036] Step S1, obtaining lidar data of the crawler chassis robot;

[0037] Step S2, constructing a current area map based on the SLAM algorithm based on the acquired lidar data, constructing a global map of the inspection area according to the current area map, and determining the global position of the robot; the current area map is a topological map;

[0038] Step S3, taking the global position of the robot as the base point, automatically calculating the direction of the feasible route, and...

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Abstract

The invention relates to an intelligent autonomous navigation method for reconnaissance of a crawler-type chassis robot. The method comprises the following steps: step 1, acquiring laser radar data ofthe crawler-type chassis robot; 2, according to the obtained laser radar data, constructing a current region map based on an SLAM algorithm, constructing an inspection region global map according tothe current region map, and determining the global position of the robot, wherein the current region map is a topological map; 3, taking the global position of the robot as a base point, automaticallycalculating the direction of an advancing route, and completing the exploration and route planning of an unknown region; and 4, according to the inspection task point and the inspection task, controlling a robot motion system to arrive at the inspection task point to execute the inspection task. According to the intelligent autonomous navigation method for reconnaissance of the crawler-type chassis robot, route planning, autonomous navigation, obstacle avoidance, automatic parking and fixed-point inspection task completion of the wheeled chassis robot can be realized.

Description

technical field [0001] The invention belongs to the technical field of explosive environment information collection, in particular to an intelligent autonomous navigation method for crawler chassis robot reconnaissance. Background technique [0002] The real-time and accurate collection of environmental information on the scene of petrochemical, hazardous chemical explosions, combustion, leakage, and collapse accidents will help rescuers formulate correct rescue plans. [0003] In the existing technology, the collection of environmental information is generally carried out by UAVs carrying relevant sensors. Due to the complexity of the accident scene, it is often impossible to accurately collect information in explosive environments. [0004] Real-time and accurate collection of multiple information in explosive environments can be achieved through crawler or wheeled explosion-proof multi-information fusion acquisition robots. Since robots need to drive in abnormal environme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J9/1664B25J9/1679B25J5/005
Inventor 张新秦绪坤陈彤徐建华李耀敏宋黎王冠琼
Owner 新兴际华集团有限公司
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