An intelligent snapshot correction system for a smart inspection robot

By acquiring triaxial angular velocity data in real time using MEMS gyroscope sensors and adaptive signal conditioning circuits, and combining quaternion differential equations and adaptive extended Kalman filter algorithms, the problem of pose deviation of the inspection robot was solved, achieving real-time dynamic correction and improved stability of high-magnification capture.

CN122363286APending Publication Date: 2026-07-10SUZHOU HAOYU INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SUZHOU HAOYU INTELLIGENT TECH CO LTD
Filing Date
2026-04-28
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

When the inspection robot arrives at the preset inspection point, factors such as navigation cumulative error, mechanical wear, uneven road surface, wind resistance and dynamic obstacle avoidance cause deviations in spatial position and three-axis attitude angle, which affects the high-magnification zoom capture effect, resulting in blurred images, false alarms and missed alarms. Existing technology lacks an effective real-time compensation mechanism for position and posture deviation.

Method used

The system employs a MEMS gyroscope sensor combined with an adaptive signal conditioning circuit and an analog-to-digital converter to acquire triaxial angular velocity data in real time. Attitude calculation is performed using quaternion differential equations and an adaptive extended Kalman filter algorithm. Combined with a gimbal compensation control module and a capture trigger control module, the system achieves real-time dynamic posture deviation correction and capture optimization.

Benefits of technology

It enables real-time dynamic correction of the pose deviation of the inspection robot, reduces the false alarm and missed alarm rate of inspection images, improves the robustness and stability of high-magnification capture scenarios, and reduces the capture failure rate.

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Abstract

This invention belongs to the field of inspection robot technology and discloses an intelligent capture and correction system for smart inspection robots. The system collects three-axis angular velocities through a MEMS gyroscope, and combines temperature compensation, adaptive signal conditioning, and data verification mechanisms to ensure stable and reliable data acquisition. Attitude calculation is completed through quaternion differential equations, and adaptive extended Kalman filtering is used to suppress integral drift and noise interference, accurately outputting spatial coordinates and three-axis attitude angles. The posture deviation calculation module accurately determines the deviation level through coupling correction, and gimbal compensation can converge the attitude angle deviation to within 0.1°. The system adopts an adaptive PID and model predictive feedforward composite control algorithm, which tunes the control parameters in real time based on the gyroscope angular velocity change rate. The feedforward term can predict the attitude deviation trend in advance and offset dynamic interferences such as motion inertia, road bumps, and wind resistance. At the same time, an overshoot suppression factor is added to avoid severe gimbal jitter.
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