Development Of An Intelligent Inspection Robot Based On Embedded System

This paper presents an intelligent inspection robot based on embedded system, which can be used in industrial complex inspection circumstance. The mathematical model, the control methods, the body design and the monitoring software design of the mobile robot are all discussed in this paper, which would be useful for the future research and application of the mobile robot.The mathematical model of the four-wheel driving mobile robot is established, which includes kinematical model, dynamic model and motor model. A robust trajectory tracking controller with backstepping method is designed based on the robot model. A hierarchical control strategy which includes kinematical controller and velocity controller is presented to solve the problem of complex calculation in robot trajectory tracking control. The simulations results show that the robust trajectory tracking controller and the hierarchical control strategy are all valid.A four-wheel mobile robot driving with two motors is designed, and three stages are taken to develop the robot body. First, the robot mechanical body is designed in detail by dividing into two parts which are motion mechanism and supporting mechanism. The 3D model of the robot and the 2D manuscript of the mechanisms are drawn by AutoCAD software. Then, the electrical controller consisting of communication module, driving module and input-output module is designed based on embedded microprocessor. Last, the control software which includes driver program and application program are developed based on embedded operation system Linux.To achieve the goal of inspection, a robot monitoring software is developed on JAVA platform. It accomplishes path planning, map saving, data saving, robot controlling, and inspecting task. At the end of this paper several movement control and inspection experiments are implemented. The experimental results show that the robot can accomplish the task of trajectory track and data inspection, so the design and development are all successful.