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Wheeled chassis robot inspection intelligent autonomous navigation method

A technology of autonomous navigation and robotics, applied in navigation, surveying and mapping and navigation, navigation computing tools, etc., can solve problems such as inaccurate information collection

Active Publication Date: 2021-03-09
新兴际华集团有限公司
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  • Description
  • Claims
  • 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

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  • Wheeled chassis robot inspection intelligent autonomous navigation method

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Embodiment Construction

[0033] 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.

[0034] ginseng figure 1 As shown, the present embodiment provides a wheeled chassis robot inspection intelligent autonomous navigation method, including the following steps:

[0035] Step 1, obtain the multi-sensor data of the wheeled chassis robot, the multi-sensor data includes lidar data, binocular machine vision data, ultrasonic data, surround camera data;

[0036] Step 2, according to the acquired multi-sensor data, construct the current regional map based on the SLAM (Location and Mapping Technology) algorithm;

[0037] Step 3, based on the basic map in the learning mode and the current area map, fuse and construct the global 3D map of the inspection area, and dete...

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Abstract

The invention relates to a wheeled chassis robot inspection intelligent autonomous navigation method. The method comprises the following steps: step 1, acquiring multi-sensor data of the wheeled chassis robot; step 2, according to the acquired multi-sensor data, constructing a current region map based on an SLAM algorithm; step 3, based on the basic map and the current area map in the learning mode, fusing and constructing an inspection area global 3D map, and based on the constructed inspection area global 3D map, determining an inspection task point and an inspection task, wherein the basicmap is constructed in advance based on multiple times of video image machine learning; and step 4, based on the determined inspection task point and inspection task, positioning and planning a path inthe map, controlling the robot motion system to arrive at the inspection task point to execute the inspection task, and continuously and accurately searching and expanding the map through machine learning. According to the invention, route planning, autonomous navigation, obstacle avoidance, automatic parking and fixed-point inspection task completion of the wheeled chassis robot can be achieved.

Description

technical field [0001] The invention belongs to the technical field of explosive environment information collection, and in particular relates to an intelligent autonomous navigation method for patrol inspection of a wheeled chassis robot. 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 i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20G01S17/93G01S17/86
CPCG01C21/005G01C21/20G01S17/93G01S17/86Y02T10/40
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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