The invention provides an adsorption pipeline robot which comprises a head part, two middle joints and a tail part, and the joints are connected through U-shaped connecting pieces, so that the magnetic adsorption pipeline robot has more degrees of freedom and adapts to various terrains in a ventilation pipeline; permanent magnets cover the surfaces of the driving wheels and the auxiliary wheels, so that the magnetic adsorption pipeline robot has a vertical climbing function; the magnetic adsorption pipeline robot is provided with a monocular camera, a single-line laser radar, an inertial measurement unit and a magnetic induction probe, and mapping and navigation functions of the magnetic adsorption pipeline robot in a steel ventilation pipeline environment are achieved.
本发明提供一种吸附管道机器人,包括头部、两个中间关节和尾部,在各关节间使用U型连接件进行连接,使磁吸附管道机器人拥有更多自由度,实现对通风管道内的多种地形适应;使用永磁铁覆盖驱动轮和辅助轮表面,使磁吸附管道机器人垂直攀爬功能;磁吸附管道机器人装有单目相机、单线激光雷达、惯性测量单元以及磁感应探头,实现磁吸附管道机器人在钢铁材质通风管道环境下的建图与导航功能。
Magnetic adsorption robot device for multi-sensor fusion mapping and navigation
一种用于多传感器融合建图与导航的磁吸附机器人装置
2023-08-01
Patent
Electronic Resource
Chinese
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