Autonomous navigation inspection robot based on distributed framework

The invention discloses an autonomous navigation inspection robot based on a distributed framework, and relates to the technical field of robot automatic navigation, the autonomous navigation inspection robot comprises a GPS/Beidou unit, a laser sensor, a binocular vision sensor, an infrared thermal imaging sensor, an ultrasonic sensor, two accelerometers, two gyroscopes and two geomagnetic compasses; in the working process, the GPS/Beidou unit is mainly used for measuring the speed and the position; when the signal of the GPS/Beidou unit is weak, the depth of an object in a front scene is detected through a visual odometer so as to generate a depth image for obstacle perception; a binocular vision sensor is mainly used for measuring a depth image; when outdoor illumination is strong or insufficient, the binocular vision sensor is automatically switched to the laser sensor to measure and collect map data. Therefore, comprehensive, accurate and stable automatic navigation inspection of the outdoor open environ