The invention belongs to the technical field of water conservancy project intelligent operation and maintenance, and discloses a complex environment adaptive collaborative operation intelligent operation and maintenance
robot which comprises a vehicle body, and a movable
chassis system, a multi-source sensing
fusion system, a multi-degree-of-freedom mechanical arm, an intelligent storage platform and an
intelligent control system are arranged on the vehicle body. Through the structural design and
technical innovation of all the systems, many technical problems existing in a traditional water conservancy
pipe network operation and
maintenance mode and existing equipment are solved in a targeted mode, and the aspects of environmental adaptability, operation functionality,
mechanical stability, collaborative intellectualization, operation and maintenance economical efficiency and the like are remarkably improved; the precise sensing capability in a complex and severe environment is greatly improved, and the detection precision and the anti-interference performance are remarkably enhanced; the
robot constructs a triple heterogeneous
sensor fusion system of a visual camera, a first
laser radar, a second
laser radar and a
millimeter wave radar, combines a dynamic
weight distribution algorithm, gives full play to the technical advantages of each sensor, effectively inhibits the
coupling influence of
darkness, water mist,
dirt and other multi-source interferences in a
pipe network, and improves the detection accuracy. The
pipe network inner wall defect detection device can accurately capture fine defects such as 0.1 cm-level cracks and
corrosion on the inner wall of a pipe network, stabilizes the defect detection accuracy at 92.5% or above, fundamentally solves the problems that a single sensor or simple double sensors are low in detection precision and multiple in missed detection and
false alarm in a complex pipe network environment, and is beneficial to actual application and operation.