The invention provides an autonomous exploration robot in a feature degradation environment, and belongs to the technical field of transportation equipment. Comprising a robot upper plate, an upper part structure and a lower part structure. After the container is fixed to a container fixing frame of the autonomous exploration robot, the battery supplies power to the container. The driving wheel is driven by the motor encoder to rotate, and the decorative wheel plays a role in supporting and balancing. The damping device is composed of a ball trundle and a spring supporting frame. The brush plate is used for charging. The IMU measures the angular velocity and the linear acceleration of the autonomous exploration robot and plays a role in real-time positioning. The laser network cable adapter is used for signal switching. The laser radar 1 scans surrounding obstacles without dead angles and plays a role in detecting the obstacles in real time. In a port environment or other complex and changeable environments, the autonomous exploration robot provided by the invention can carry a container and autonomously navigate to a designated place without manual operation, so that high-precision positioning and accurate obstacle detection are realized.
本发明提供一种特征退化环境下自主探索机器人,属于运输设备技术领域。包括机器人上板、及其上方和下方两部分结构。集装箱固定在自主探索机器人的集装箱固定架后,由电池供电。驱动轮在电机编码器驱动下转动,装饰轮起支撑和平衡作用。减震装置由滚珠脚轮和弹簧支撑架构成。刷板用于进行充电。IMU测量自主探索机器人的角速度和线性加速度,起实时定位作用。激光网线转接器用于进行信号转接。激光雷达1实现无死角扫描周围障碍物,起实时检测障碍物的作用。在港口环境或其他复杂多变环境下,本发明提供的自主探索机器人在没有人工操作的情况下,能够搬运集装箱并自主导航到指定地点,实现高精度定位和精准障碍物检测。
Autonomous exploration robot in feature degradation environment
特征退化环境下自主探索机器人
14.05.2024
Patent
Elektronische Ressource
Chinesisch
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