Design of Environment Perception System for Quadruped Inspection Robot

Nowadays, the substation inspection robot always uses wheeled chassis, which is suitable for running on relatively flat road. However, there are steps, stone road, stairs and other complex terrain in substation, so it is difficult to achieve full coverage of inspection area. In order to solve this problem, a prototype environment perception system for quadruped robot is designed, and the hardware and software structure are described in detail. Finally, the designed perception system proposed in this paper is tested in an outdoor environment to verify the adaptability of the quadruped inspection robot to the complex terrain of the environment.