基于四足机器人的三维激光扫描技术在既有房屋检测中的应用研究

Research on the Application of Quadruped Robot Equipped with 3D Laser Scanning Technology in the Inspection of Existing Houses

针对既有房屋在条件受限区域进行现场检测存在的问题,提出基于四足机器人的三维激光扫描技术,可有效结合四足机器人灵巧、机动、负载能力强等优点和三维激光扫描仪精度高、速度快、可大幅度节约时间和成本等优点。在张园大客堂文物勘察项目上对该技术进行了应用,取得较高的检测精度,验证了该技术在房屋检测中的适用性。研究结果表明,基于四足机器人的三维激光扫描技术具有作业安全、效率高、精度高的特点,可应用于既有房屋检测领域。

Aiming at the problems of on-site detection of existing houses in restricted areas, this paper proposes the quadruped robot equipped with 3D laser scanning technology. It can effectively combine the advantages of quadruped robot, such as dexterity, mobility and strong load capacity, and the advantages of 3D laser scanner, such as high precision, fast speed, time and cost saving. The technology was applied in the cultural relics survey project of Zhangyuan Daketang, and high detection accuracy was obtained, which verified the applicability of the technology in house detection. The research results show that the quadruped robot equipped with 3D laser scanning technology has the characteristics of safe operation, high efficiency and high precision, and can be applied to the field of existing house detection.