AIR-GROUND COOPERATIVE INTELLIGENT INSPECTION ROBOT AND INSPECTION METHOD

摘要

Provided is an air-ground cooperative intelligent inspection robot. The robot comprises a robot platform (1) and an unmanned aerial vehicle (2), wherein the robot platform (1) comprises a vehicle body (10), vehicle wheels (11), a driving assembly, a mechanical arm (12), an environmental perception assembly, a communicator (14), a robot controller (16) and a power supply assembly (17); and the unmanned aerial vehicle (2) is in communication connection with a base station by means of the communicator (14). The inspection method comprises: carrying out air-ground cooperative multi-robot positioning and mapping, which comprises: perceptual positioning calculation, map creation, and multi-information fusion positioning; and air-ground cooperative tracking and control, which comprises: unmanned aerial vehicle flight control design, robot platform trajectory tracking control, and unmanned aerial vehicle autonomous landing control. The robot can execute given navigation and inspection tasks in an all-round and all-weather mode. By means of the application of the techniques of the Internet of Things, artificial intelligence, etc., and integration with environmental perception, dynamic decision making, behavior control and an alarm device, the robot has the capabilities of autonomous perception, walking, protection, interactive communication, etc., and can complete basic, repeated and dangerous safety work, thereby reducing the cost of safety operations.