The invention relates to the technical field of railway tunnel construction, and provides an intelligent robot dog carrying a three-dimensional laser scanner and a control method thereof. Comprising a robot dog body, mechanical legs arranged on the two sides of the robot dog body, a three-dimensional laser scanner arranged on the top of the robot dog body, and an infrared vision module, a posture detection module and a motion control module which are arranged on the robot dog body; the three-dimensional laser scanner carries out full-section scanning on the surface of the tunnel; the infrared vision module judges the distance between the robot dog body and the tunnel according to the return time of the infrared rays, and judges the inclination degree of the robot dog body according to the relative angle between the emitted infrared rays and the received returned infrared rays; the posture detection module and the motion control module are used for controlling the double rows of rotating wheels of the robot dog body to move in the horizontal direction and controlling the rotation of the electric rotating wheels and the driving shafts of the robot dog body so as to control the flexion and extension degree of the mechanical legs. The tunnel scanning device is suitable for tunnels with various complex terrains.
本发明涉及铁路隧道建设技术领域,提供了一种搭载三维激光扫描仪的智能机器狗及其控制方法,包括机器狗本体、设置于机器狗本体两侧的机械腿、设置于机器狗本体顶部的三维激光扫描仪、以及设置于机器狗本体上的红外视觉模块、姿态检测模块和运动控制模块;三维激光扫描仪对隧道表面进行全断面扫描;红外视觉模块根据红外线返回时间判断机器狗本体与隧道的距离,根据发射的红外线和接收的返回的红外线的相对角度判断机器狗本体的倾斜程度;姿态检测模块和运动控制模块,控制机器狗本体的双排转轮进行水平方向的运动,并控制机器狗本体的电动转轮和驱动轴的转动,进而控制机械腿的屈伸程度。实现对隧道的全方位扫描,适用于各种地势复杂隧道。
Intelligent robot dog carrying three-dimensional laser scanner and control method thereof
一种搭载三维激光扫描仪的智能机器狗及其控制方法
2023-11-28
Patent
Electronic Resource
Chinese
Three-dimensional laser scanner and three-dimensional scanning framework thereof
European Patent Office | 2020
|