Unknown space autonomous exploration system based on quadruped robot

Abstract

The invention provides an unknown space autonomous exploration system based on a quadruped robot. The system comprises a data acquisition module, a positioning and mapping module, an autonomous exploration module and a target detection module. The data acquisition module acquires environment information of an underground space, and real-time three-dimensional scene reconstruction and autonomous positioning are realized by using the positioning and mapping module; the autonomous exploration module autonomously decides a next undetected target point as a next target position; the target detection module senses distribution of surrounding obstacles, performs path planning according to a newly established environment map, realizes autonomous obstacle avoidance and navigation in an unknown space, and moves to a next target position for detection; and finally, when all detection is completed or the electric quantity of the robot is about to be consumed up, the system controls the robot to autonomously return to the starting point according to the established map, and a global consistency three-dimensional environment map of the detected space is established. The system provided by the invention endows the mobile robot with the ability to control unknown space.

Description

technical field [0001] The invention relates to the technical field of robot development, in particular to an autonomous exploration system for unknown space based on a quadruped robot. Background technique [0002] Unknown space has certain dangers, such as mines, pipelines, tunnels, etc., where the line of sight is poor, communication is poor, entry is difficult, and the terrain is unpredictable. But it's not just an element of future military operations, it's also about search and rescue and emergency rescue. In the civil field, unknown spaces, especially underground unknown spaces, underground facilities play an increasingly important role in social security. Due to the three-dimensional extension of urban development, emerging cities not only continue to expand in terms of ground area, but also continue to expand underground networks. Spaces such as subways, tunnels, and underground pipelines are densely populated, and there are cases where engineering drawings are los...

AI Technical Summary

Problems solved by technology

However, in unknown environments such as subways, tunnels, underground pipelines, and natural caves, it is still challenging: unknown spaces are intertwined and complex, and there are often challenges such as darkness, long and narrow, no GNSS signals, and no communication signals.

The dark and narrow scene seriously degrades the sensor data of the robot, and the narrow environment limits the size and mobility of the robot

Without GNSS signal, communication signal and other characteristics, it is difficult to remotely locate and control the robot through radio communication and other means.

In addition, the efficiency of path planning and the effectiveness of motion control decision-making during autonomous exploration still need to be improved.

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