The invention relates to the technical field of inspection systems, in particular to a multi-sensor fusion inspection system based on a quadruped robot, which comprises a positioning mapping navigation device, a system control device, an image processing device and an image recognition device. The positioning mapping navigation unit is mainly composed of a radar data acquisition module, a map construction module, a positioning module, a path planning module, a navigation and movement module, an obstacle avoidance module and a charging box, and the map construction module is used for developing a laser radar bottom layer drive in an ROS system, realizing laser radar data analysis and frame packaging processing, completing radar data acquisition and carrying out navigation and movement; on the basis of data of a map building module and a robot positioning module, position information, angle information and surrounding environment information are obtained in real time by subscribing information of a laser radar node and a positioning node and taking an initial point as a reference, whether obstacle avoidance and path re-planning are needed or not is judged, path information is converted into a control instruction of an MCU motor, and the control instruction is sent to the MCU motor. Displacement, angle and speed control is achieved, and therefore inspection work can be better carried out.

    本发明涉及巡检系统技术领域,尤其是一种基于四足机器人的多传感器融合巡检系统,包括,定位建图导航、系统控制、图像处理与图像识别设备;定位建图导航单元,主要由雷达数据采集、地图构建、定位、路径规划、导航及移动、避障模块与充电盒组成,地图构建模块:在ROS系统中开发激光雷达底层驱动,实现激光雷达数据解析与帧封装处理,完成雷达数据采集,本发明以地图构建模块以及机器人定位模块的数据为基础,通过订阅激光雷达节点与定位节点信息,以初始点为基准,实时获取位置信息、角度信息、周围环境信息,判断是否需要避障以及路径重新规划,并将路径信息转换为MCU电机的控制指令,实现位移、角度、速度的控制,从而更好的进行巡检工作。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Multi-sensor fusion inspection system based on quadruped robot and charging box thereof


    Weitere Titelangaben:

    一种基于四足机器人的多传感器融合巡检系统及其充电盒


    Beteiligte:
    TIAN JI (Autor:in) / HUANG XUPENG (Autor:in) / TIAN YI (Autor:in) / CAI CHENGWEI (Autor:in) / ZHANG LEI (Autor:in) / HE ZHIMIN (Autor:in) / LIN WEILIANG (Autor:in) / TANG JING (Autor:in) / SHAN JIE (Autor:in) / JIANG ZHIHONG (Autor:in)

    Erscheinungsdatum :

    2024-01-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / H02J CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER , Schaltungsanordnungen oder Systeme für die Abgabe oder Verteilung elektrischer Leistung



    Quadruped robot and intelligent inspection management platform thereof

    FENG TINGYOU / XIA JI / DU XIAOSHI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Intelligent agricultural inspection quadruped robot and control system thereof

    WANG FENGYUN / LYU XIANGYU | Europäisches Patentamt | 2023

    Freier Zugriff

    Quadruped robot for heavy-load inspection

    HUANG JIACAI / MEI XIANHUI / ZHANG YANGGUI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Quadruped robot charging pile and fine positioning method thereof

    LI XUESHENG / LI CHEN / MOU CHUN | Europäisches Patentamt | 2021

    Freier Zugriff

    Quadruped robot dog for railway inspection

    MOU HONGLEI / MENG YANG / LIU JINGJING et al. | Europäisches Patentamt | 2023

    Freier Zugriff