SLAM autonomous navigation robot based on ros2 operating system and lidar sensor

Abstract

The application belongs to the technical field of robots, and particularly relates to a SLAM autonomous navigation robot based on a ROS2 operating system and a laser radar sensor, which comprises a ROS2 operating system and a robot body, the ROS2 operating system is mounted on the robot body, and a laser radar sensor body is arranged on the robot body; the ROS2 operating system comprises a power management module, a calculation processing module, a motion module and a communication module; the laser radar sensor body provides accurate environment information, the accuracy of positioning and map construction is improved in combination with an advanced SLAM algorithm, the high performance and modular design of the ROS2 operating system enable the robot body to adapt to various complex environments, the optimized SLAM algorithm and the real-time processing capability of the ROS2 ensure the quick response of the robot body in a dynamic environment, the demand of the system for calculation resources is reduced through reasonable hardware selection and software optimization, and the energy efficiency ratio is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and specifically relates to a SLAM autonomous navigation robot based on a ROS2 operating system and a laser radar sensor. BACKGROUND

[0002] In the field of robot technology, autonomous navigation is one of the key technologies to realize the intelligence of robots. With the rapid development of industrial automation and smart home, etc., the demand for robot autonomous navigation is increasing. As the core of robot autonomous navigation, SLAM technology has attracted widespread attention in its development and application.

[0003] SLAM algorithms are mainly divided into two categories: laser radar-based SLAM and vision-based SLAM. Laser radar SLAM is widely used in indoor environments due to its high measurement accuracy and good stability. Common laser SLAM robots on the market, such as Turtlebot, Miribot, etc., use laser radar as the main sensing device. These robots usually carry ROS1 operating system, and realize the construction of environment map and the positioning of robots through SLAM algorithms such as gmapping and hector_slam.

[0004] However, the above-mentioned technologies often have the following defects:

[0005] Limited environmental adaptability: Most laser radar-based SLAM systems are not sensitive to changes in environmental lighting, but their performance will decrease significantly in dynamic or unstructured environments, such as crowded shopping malls or variable outdoor environments;

[0006] Large consumption of computing resources: existing SLAM algorithms often require a large amount of computing resources, especially when processing large-scale environmental data, which limits the application of robots on resource-constrained platforms;

[0007] Insufficient real-time performance: in the ROS1 system, due to its topic-based communication mechanism and distributed computing architecture, there is a certain communication delay, which affects the real-time performance of SLAM algorithms, especially in high-speed moving or fast response scenarios;

[0008] System stability and reliability: existing SLAM systems may have stability and reliability problems when running for a long time or processing a large amount of data, which is particularly prominent in industrial applications that require long-term continuous work;

[0009] Strong hardware dependency: many existing SLAM solutions are highly dependent on specific hardware configurations, such as laser radar models and performance, which limits the flexibility and scalability of the system;

[0010] Poor algorithm generalization: existing SLAM algorithms are often designed for specific environments or tasks, lacking generalization ability and being difficult to adapt to changing practical application requirements.

[0011] To this end, the present application provides a ROS2 operating system and laser radar sensor-based SLAM autonomous navigation robot. SUMMARY

[0012] To make up for the deficiencies of the prior art and solve at least one technical problem raised in the background art.

[0013] The technical scheme adopted by the present application to solve its technical problems is: the ROS2 operating system and laser radar sensor-based SLAM autonomous navigation robot according to the present application comprises a ROS2 operating system and a robot body, the ROS2 operating system is mounted on the robot body, and a laser radar sensor body is arranged on the robot body; the ROS2 operating system comprises a power management module, a computing processing module, a motion module, and a communication module, the power management module is used to power the computing processing module, the motion module, the laser radar sensor body, and the communication module; the laser radar sensor body is used for data collection and acquisition, the computing processing module is used to calculate the data obtained by the laser radar sensor body and perform starting mapping and path planning, the motion module is used to drive the robot body to move according to the planned path, and the communication module is used to realize data or signal transmission.

[0014] Preferably, the computing processing module comprises a SLAM algorithm module and a navigation processing module, the SLAM algorithm module is used to calculate the collected data, and after the data is calculated, the navigation processing module can perform mapping and path planning.

[0015] Preferably, a protection mechanism is arranged on the laser radar sensor body, the protection mechanism comprises a cylinder fixedly connected with the top surface of the laser radar sensor body, a sliding groove is formed in the top surface of the cylinder, a sliding rod made of a magnetic material is arranged in the sliding groove, a first spring is fixedly connected between the bottom surface of the sliding rod and the inner wall of the sliding groove, an electromagnet magnetically attracted to the sliding rod is fixedly connected to the bottom surface of the inner wall of the sliding groove, a connecting column is fixedly connected to the top surface of the sliding rod, and a protective cover made of transparent material is fixedly connected to the side wall of the connecting column.

[0016] Preferably, a sealing ring is fixedly connected to the bottom surface of the protective cover, and a connecting disc is fixedly connected to the side wall of the laser radar sensor body.

[0017] Preferably, a hollow fixing ring is fixedly connected to the side wall of the protective cover, a group of through holes are formed in the bottom surface of the fixing ring, the sliding rod and the inner wall of the sliding groove are in sealing sliding connection, and a group of connecting pipes are in communication between the inside of the sliding groove and the inside of the fixing ring.

[0018] Preferably, the top surface of the connecting column is provided with a groove, the connecting column is provided with a flow guide groove and a water storage groove, the connecting column is provided with a group of water inlet holes communicated with the flow guide groove and the water storage groove, a straight drain pipe is arranged between the inner portion of the fixing ring and the water storage groove, the water storage groove is provided with a sealing assembly for sealing the drain pipe, and the top surface of the groove is provided with a group of circular holes communicated with the flow guide groove.

[0019] Preferably, the water storage groove is provided with a push plate, the top surface of the push plate is fixedly connected with a connecting rod, the connecting rod penetrates through the top surface of the connecting column, and a group of second springs are fixedly connected between the top surface of the push plate and the inner wall of the water storage groove.

[0020] Preferably, the sealing assembly comprises a sealing ring in sliding connection with the inner wall of the water storage groove, the bottom surface of the sealing ring is in sealing contact with the drain pipe, a circular rod is in sliding connection with the connecting rod, and the bottom surface of the circular rod is fixedly connected with the sealing ring.

[0021] Preferably, the push plate is in sealing and sliding connection with the inner wall of the water storage groove, the connecting column is provided with a group of through grooves communicated with the flow guide groove and the water storage groove, and the side wall of the sealing ring can seal the water inlet holes of the through grooves.

[0022] The beneficial effects of the present application are as follows:

[0023] 1. The laser radar sensor body in the present application provides accurate environmental information, improves the positioning and map building accuracy by combining with the advanced SLAM algorithm, and the high performance and modular design of the ROS2 operating system enable the robot body to adapt to various complex environments, the optimized SLAM algorithm and the real-time processing capability of ROS2 ensure the rapid response of the robot body in a dynamic environment, reasonable hardware selection and software optimization reduce the demand of the system on computing resources, and the energy efficiency ratio is improved.

[0024] 2. When encountering rainy weather, the electromagnet is automatically started, so that the electromagnet drives the sliding rod to move downward, at this time the sliding rod drives the protective cover to move downward, so as to completely block the side edge of the laser radar sensor body, so as to prevent the laser radar sensor body from being affected by rainwater, when the electromagnet is turned off, the first spring pushes the sliding rod to reset, so that the protective cover resets. BRIEF DESCRIPTION OF DRAWINGS

[0025] The present application will be further described below with reference to the drawings.

[0026] Figure 1 And Figure 2 is the ROS2 operating system block diagram in the present application;

[0027] Figure 3 is a structural schematic view of the robot body in the present application;

[0028] Figure 4 This is a schematic diagram of the laser radar sensor body and protective structure in this invention;

[0029] Figure 5 This is a schematic diagram of the internal structure of the connecting disc, cylinder, and fixing ring in this invention;

[0030] Figure 6 This is a cross-sectional view of the connecting column in this invention.

[0031] In the diagram: 1. Power management module; 2. Calculation and processing module; 3. LiDAR sensor body; 4. Motion module; 5. Communication module; 6. SLAM algorithm module; 7. Navigation processing module; 8. Robot body; 9. Connecting plate; 10. Cylinder; 11. Slide groove; 12. Electromagnet; 13. Slide rod; 14. Connecting column; 15. Protective cover; 16. Fixing ring; 17. Connecting pipe; 18. Through hole; 19. Groove; 20. Guide channel; 21. Round hole; 22. Water inlet; 23. Drain pipe; 24. Connecting rod; 25. Push plate; 26. Sealing ring; 27. Round rod; 28. Through groove; 29. ​​Sealing ring; 30. Water storage tank. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0033] Example 1: As Figures 1 to 5 As shown in the figure, an embodiment of the present invention discloses a SLAM autonomous navigation robot based on the ROS2 operating system and a LiDAR sensor, comprising a ROS2 operating system and a robot body 8. The ROS2 operating system is mounted on the robot body 8, and a LiDAR sensor body 3 is mounted on the robot body 8. The ROS2 operating system includes a power management module 1, a computing processing module 2, a motion module 4, and a communication module 5. The power management module 1 supplies power to the computing processing module 2, the motion module 4, the LiDAR sensor body 3, and the communication module 5. The LiDAR sensor body 3 is used for data acquisition and collection. The computing processing module 2 is used to calculate the data acquired by the LiDAR sensor body 3 and perform initial mapping and path planning. The motion module 4 is used to drive the robot body 8 to move according to the planned path. The communication module 5 is used to realize data or signal transmission. First, the LiDAR sensor body 3 collects data. The computing processing module 2 acquires the data through the communication module 5. The computing processing module 2 calculates the data acquired by the LiDAR sensor body 3 and finally completes mapping and path planning.

[0034] The computing processing module 2 comprises a SLAM algorithm module 6 and a navigation processing module 7, the SLAM algorithm module 6 is used for calculating the collected data, after the data is calculated, the navigation processing module 7 can carry out mapping and path planning; the obtained data is pretreated and filtered through the SLAM algorithm module 6: firstly, the motion distortion compensation is carried out in pretreatment: the commonly used methods are pure estimation method and sensor auxiliary method, here, the pure estimation method (iterative closest point (ICP)) is adopted to minimize the error of the obtained laser radar data, then the useless data and the data deviating from the main observation area are filtered out, there are various algorithms, here, the average value filtering algorithm is adopted: the vibration interference of the robot in the motion process is effectively processed;

[0035] Extracting key features: firstly, the laser points are classified into line bundles, according to the line bundle model of the laser radar, each line bundle is called a scan, and a frame of line bundles constitutes a frame of sweeps, firstly, we need to calculate the angle of each laser in the laser radar coordinate system, the laser points are classified according to the angle threshold, and at the same time, the feature points are normalized between π (pi) and -π (pi), which is convenient for subsequent calculation, π is an angle point, which is radian, π=3.1415926......, and the pi in the bracket is pronunciation;

[0036] Then the curvature of the laser point is calculated;

[0037]

[0038] : the set of line bundle points of the current laser point;

[0039] : the laser points of the same line bundle are regarded as a group;

[0040] : the three-dimensional coordinate vector (X, Y, X) of the Kth frame, the Kth laser point in the laser radar coordinate system;

[0041] : the three-dimensional coordinate vector (X, Y, X) of the Kth frame, the Kth laser point in the laser radar coordinate system;

[0042] ;

[0043] ​​​Finally, the feature points are extracted: in order to have uniform constraints on 360 degrees in a week, we divide a laser line into 6 blocks on average, arrange the points in the block according to the curvature, take the two points with the largest curvature as corner sharp points, take the first 20 points with the largest curvature as corner less sharp points, take the four points with the smallest curvature as surf flat points, and take the remaining points and surf less flat points as surf less flat points; the surf less flat points are relatively more, so a downsampling is performed on the surf less flat points at last;

[0044] The feature point matching is divided into scan-to-scan and scan-to-map, and the basic principles of the two types of matching are consistent, that is, the nearest neighbor method is adopted in the same coordinate system, and the difference is that scan-to-scan is more simple and rough, while scan-to-map is more complex and robust. Here, both of them are used to obtain a rough pose through scan-to-scan, and then start mapping. At the same time, a more accurate pose is obtained through scan-to-map, and finally path planning is carried out, and the robot body 8 can be navigated and driven with the aid of the navigation processing module 7.

[0045] The laser radar sensor body 3 is provided with a protection mechanism, the protection mechanism includes a cylinder 10 fixedly connected with the top surface of the laser radar sensor body 3, a sliding groove 11 is formed in the top surface of the cylinder 10, a sliding rod 13 made of magnetic material is arranged in the sliding groove 11, a first spring is fixedly connected between the bottom surface of the sliding rod 13 and the inner wall of the sliding groove 11, an electromagnet 12 magnetically attracted to the sliding rod 13 is fixedly connected to the inner wall bottom of the sliding groove 11, a connecting column 14 is fixedly connected to the top surface of the sliding rod 13, and a protective cover 15 made of transparent material is fixedly connected to the side wall of the connecting column 14;

[0046] Since the robot body 8 needs to be used in different environments, especially in outdoor use, it will encounter various weather, if it is encountered in rainy weather, the laser radar sensor body 3 is not protected in time, which will cause it to be prone to failure, and there is also a lot of dust outdoors, which is also easy to record on the laser radar sensor body 3, through the above mechanism, the protective cover 15 can be blocked above the laser radar sensor body 3, which can greatly reduce the adhesion of dust on the laser radar sensor body 3, improve the use effect of the laser radar sensor body 3, thereby improving the accuracy of the data obtained by the laser radar sensor body 3, when encountering rainy weather, the electromagnet 12 will be automatically started, thereby allowing the electromagnet 12 to attract the sliding rod 13 to move downward, at this time the sliding rod 13 will drive the protective cover 15 to move downward, thereby completely blocking the side of the laser radar sensor body 3, to prevent rain from affecting the laser radar sensor body 3, when the electromagnet 12 is closed, the first spring will push the sliding rod 13 to reset, thereby allowing the protective cover 15 to reset.

[0047] The bottom surface of the protective cover 15 is fixedly connected with a sealing ring 29, and the side wall of the laser radar sensor body 3 is fixedly connected with a connecting disc 9; when the electromagnet 12 attracts the sliding rod 13 to move downward, the sliding rod 13 drives the protective cover 15 to move downward, and at this time the sealing ring 29 is in close contact with the connecting disc 9, thereby further improving the waterproof effect of the laser radar sensor body 3.

[0048] The side wall of the protective cover 15 is fixedly connected with a hollow fixing ring 16, a group of through holes 18 are formed in the bottom surface of the fixing ring 16, the sliding rod 13 and the inner wall of the sliding groove 11 are in sealing sliding connection, and a group of connecting pipes 17 are in communication between the sliding groove 11 and the inside of the fixing ring 16; the electromagnet 12 can be set to start twice, and when starting, the electromagnet 12 will start intermittently for 10-12 times, and when the electromagnet 12 starts, it will attract the sliding rod 13, so that the sliding rod 13 pushes the gas in the sliding groove 11 into the fixing ring 16 through the connecting pipe 17, at this time the gas will be blown out from the through hole 18 to the protective cover 15, thereby blowing off the dust on the protective cover 15, and the intermittent starting of the electromagnet 12 can make the gas continuously blow out from the through hole 18, preventing the protective cover 15 from accumulating too much dust to affect the use of the laser radar sensor body 3.

[0049] The top surface of the connecting column 14 is provided with a groove 19, the connecting column 14 is provided with a flow guide groove 20 and a water storage groove 30, a group of water inlet holes 22 communicated with the flow guide groove 20 and the storage groove are arranged in the connecting column 14, a straight drain pipe 23 is arranged between the inside of the fixed ring 16 and the water storage groove 30, a sealing assembly for sealing the drain pipe 23 is arranged in the water storage groove 30, a group of circular holes 21 communicated with the flow guide groove 20 are arranged on the top surface of the groove 19; when encountering rainy weather, rainwater will fall into the groove 19, then the rainwater will enter the flow guide groove 20 from the circular hole 21, and finally enter the water storage groove 30 from the drain hole, when the protective cover 15 is cleaned subsequently, the sealing assembly can no longer seal the drain pipe 23, at this time water will enter the fixed ring 16 from the drain pipe 23, and then flow to the protective cover 15 through the through hole 18 for cleaning, thereby improving the self-cleaning effect of the protective cover 15.

[0050] The water storage groove 30 is provided with a push plate 25, the top surface of the push plate 25 is fixedly connected with a connecting rod 24, the connecting rod 24 penetrates the top surface of the connecting column 14, a group of second springs are fixedly connected between the top surface of the push plate 25 and the inner wall of the storage groove; the water outlet assembly in the application can be manually pushed by the connecting rod 24 when opened, so that the connecting rod 24 pushes the push plate 25, so that the push plate 25 pressurizes and discharges the water in the water storage groove 30, so that the water can wash the protective cover 15, to further improve the cleaning effect of the protective cover 15.

[0051] Embodiment two: as Figure 6 The sealing assembly includes a sealing ring 26 in sliding connection with the inner wall of the water storage groove 30, the bottom surface of the sealing ring 26 is in sealing abutment with the drain pipe 23, a round rod 27 is in sliding connection in the connecting rod 24, and the bottom surface of the round rod 27 is fixedly connected with the sealing ring 26; when the water needs to be discharged, the circular pipe can be moved upward, so that the round rod 27 drives the sealing ring 26 to move upward, so that the sealing ring 26 no longer seals the drain pipe 23, at this time the water can be discharged from the water outlet groove.

[0052] The push plate 25 is in sealing sliding connection with the inner wall of the water storage tank 30, a group of through grooves 28 are formed in the connecting column 14 and communicate with the flow guide groove 20 and the water storage tank 30, and the side wall of the sealing ring 26 can seal the water inlet hole 22 of the through groove 28; When the robot body 8 is used outdoors, impurities such as leaves may easily fall into the groove 19, which may easily cause the blockage of the circular hole 21. Through the above mechanism, the circular rod 27 can be moved upwards first, the circular rod 27 drives the sealing ring 26 to seal the water inlet hole 22, then the push plate 25 is moved downwards, and then the push plate 25 is moved upwards again. At this time, the push plate 25 pushes the gas in the water storage tank 30 into the flow guide groove 20 through the through groove 28, and then the gas is discharged from the circular hole 21. At this time, the gas can carry away the impurities blocked in the circular hole 21, so as to achieve the effect of dredging the circular hole 21.

[0053] Working principle: By blocking above the laser radar sensor body 3 with the protective cover 15, the attachment of dust on the laser radar sensor body 3 can be greatly reduced, the use effect of the laser radar sensor body 3 is improved, and the accuracy of data acquisition of the laser radar sensor body 3 is improved. When it rains, the electromagnet 12 will automatically start, so that the electromagnet 12 drives the sliding rod 13 to move downwards, at this time the sliding rod 13 drives the protective cover 15 to move downwards, so as to completely block the side of the laser radar sensor body 3, so as to prevent rain from affecting the laser radar sensor body 3. When the electromagnet 12 is turned off, the first spring pushes the sliding rod 13 to reset, so that the protective cover 15 is reset. When the electromagnet 12 drives the sliding rod 13 to move downwards, the sliding rod 13 drives the protective cover 15 to move downwards, and at this time the sealing ring 29 is in close contact with the connecting disc 9 to further improve the waterproof effect of the laser radar sensor body 3;

[0054] The electromagnet 12 in the application can be started twice a day. When the electromagnet 12 is started, it will be started intermittently for 10-12 times. When the electromagnet 12 is started, it will drive the sliding rod 13, so that the sliding rod 13 drives the gas in the sliding groove 11 into the fixed ring 16 through the connecting pipe 17. At this time, the gas will be blown out of the through hole 18 to the protective cover 15, so as to blow off the dust on the protective cover 15. Intermittent starting of the electromagnet 12 can make the gas continuously blow out of the through hole 18, so as to prevent too much dust from accumulating on the protective cover 15 and affecting the use of the laser radar sensor body 3. When it rains, the rain will fall into the groove 19, then the rain will enter the flow guide groove 20 from the circular hole 21, and finally the rain will enter the water storage tank 30 from the drain hole. When the protective cover 15 is cleaned later, the sealing assembly will not seal the drain pipe 23, at this time the water will enter the fixed ring 16 from the drain pipe 23, and then flow to the protective cover 15 from the through hole 18 for cleaning, so as to improve the self-cleaning effect of the protective cover 15;

[0055] The water outlet assembly in the application can be opened by manually pushing the connecting rod 24, so that the connecting rod 24 pushes the push plate 25 to pressurize and discharge the water in the water storage tank 30, so that the water can wash the protective cover 15, thereby further improving the cleaning effect of the protective cover 15.

[0056] The above-mentioned front, rear, left, right, top and bottom are based on the drawings of the specification Figure 1 As a standard, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the scope of protection of the present application.

[0058] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. ROS2 operating system and lidar sensor-based SLAM autonomous navigation robot, comprising a ROS2 operating system and a robot body (8), the ROS2 operating system is mounted on the robot body (8), and a lidar sensor body (3) is arranged on the robot body (8); characterized in that The ROS2 operating system comprises a power management module (1), a computing processing module (2), a motion module (4) and a communication module (5), the power management module (1) is used for power supply of the computing processing module (2), the motion module (4), the lidar sensor body (3) and the communication module (5); The lidar sensor body (3) is used for data collection and acquisition, the computing processing module (2) is used for calculating the data obtained by the lidar sensor body (3), and mapping and path planning are carried out, the motion module (4) is used for driving the robot body (8) to move according to the planned path, and the communication module (5) is used for realizing data or signal transmission; The computing processing module (2) comprises a SLAM algorithm module (6) and a navigation processing module (7), the SLAM algorithm module (6) is used for calculating the collected data, and after the data is calculated, the navigation processing module (7) can carry out mapping and path planning; The lidar sensor body (3) is provided with a protection mechanism, the protection mechanism comprises a cylinder (10) fixedly connected with the top surface of the lidar sensor body (3), the top surface of the cylinder (10) is provided with a sliding groove (11), the sliding groove (11) is provided with a sliding rod (13) made of magnetic material, a first spring is fixedly connected between the bottom surface of the sliding rod (13) and the inner wall of the sliding groove (11), the inner wall bottom of the sliding groove (11) is fixedly connected with an electromagnet (12) magnetically attracted to the sliding rod (13), the top surface of the sliding rod (13) is fixedly connected with a connecting column (14), and the side wall of the connecting column (14) is fixedly connected with a protective cover (15) made of transparent material; The side wall of the protective cover (15) is fixedly connected with a hollow fixing ring (16), a group of through holes (18) are formed in the bottom surface of the fixing ring (16), the sliding rod (13) and the inner wall of the sliding groove (11) are sealingly and slidably connected, and a group of connecting pipes (17) are communicated between the inside of the sliding groove (11) and the inside of the fixing ring (16); A recess (19) is formed in the top surface of the connecting column (14), a flow guide groove (20) and a water storage groove (30) are formed in the connecting column (14), a group of water inlet holes (22) communicated with the flow guide groove (20) and the storage groove are formed in the connecting column (14), a straight drain pipe (23) is arranged between the inside of the fixing ring (16) and the water storage groove (30), a sealing assembly for sealing the drain pipe (23) is arranged in the water storage groove (30), and a group of circular holes (21) communicated with the flow guide groove (20) are formed in the top surface of the recess (19); A push plate (25) is arranged in the water storage tank (30), a connecting rod (24) is fixedly connected to the top surface of the push plate (25), the connecting rod (24) penetrates through the top surface of the connecting column (14), and a second spring group is fixedly connected between the top surface of the push plate (25) and the inner wall of the storage tank; The sealing assembly comprises a sealing ring (26) which is in sliding connection with the inner wall of the water storage tank (30), the bottom surface of the sealing ring (26) is in sealing contact with the drain pipe (23), a round rod (27) is in sliding connection in the connecting rod (24), and the bottom surface of the round rod (27) is fixedly connected with the sealing ring (26); The push plate (25) is in sealing sliding connection with the inner wall of the water storage tank (30), a group of through grooves (28) which are in communication with the flow guide groove (20) and the water storage tank (30) are formed in the connecting column (14), and the side wall of the sealing ring (26) can seal the water inlet hole (22) of the through groove (28).

2. The ROS2 operating system and lidar sensor based SLAM autonomous navigation robot of claim 1, wherein: The bottom surface of the protective cover (15) is fixedly connected with a sealing ring (29), and the side wall of the laser radar sensor body (3) is fixedly connected with a connecting disc (9).

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