Mapping system of indoor wheel type search and rescue robot

The utility model discloses a mapping system of an indoor wheel type search and rescue robot. The mapping system comprises a PC (Personal Computer), a central control unit, a motion control unit, a motor and a plurality of sensors, the PC, the motion control unit and the sensor are all connected with the central control unit; the motion control unit comprises a single-chip microcomputer and a motor drive circuit. The motor is connected with the single-chip microcomputer through the motor driving module. The single-chip microcomputer is connected with the motion control unit. The inertial measurement unit, the laser radar and the camera are combined, so that a high-precision grid map can be obtained, compared with mapping by only using the camera, operation resources are greatly saved, deviation caused by smoke, light and other site reasons is avoided, the camera is used for shooting an environment photo with the current pose of the robot in the site, and the accuracy of mapping is improved. Shielding can be e