| This paper is supported by Tianjin science and technology project "research and application demonstration of omnidirectional mobile robot system for leakage inspection of hazardous chemicals warehouse".An omnidirectional mobile robot system for leakage inspection of hazardous chemicals warehouse is developed to solve the shortcomings of complex sensor network monitoring mode,such as complex network and high maintenance cost,the high risk and poor real-time performance of hazardous chemicals storage in petrochemical industry.In this paper,the omnidirectional mobile robot control system and monitoring system is established to achieve all-weather monitoring of the dangerous chemicals storage area.This work this mainly contents:1.The research achievements of omnidirectional mobile robots at home and abroad were investigated and studied,the design of omnidirectional mobile robot based on Mecanum wheel was determined.The mechanism of Mecanum wheel was analyzed in depth,based on which,the kinematic model of Mecanum wheeled mobile robot for inspection of dangerous chemicals was established.The kinematics simulation analysis is carried out.The correctness of the established kinematics model is verified.2.The omnidirectional mobile robot control system and monitoring system were designed,and the hardware was selected and programs were written.Based on the principle of modularization,the information system,wireless transmission system,vision system,positioning system and driving system of the omnidirectional mobile robot were built.The robot control system and monitoring system were completed from the aspects of the robot slave robot control system,the robot host control system and the remote real-time monitoring and command center system.3.Aiming at solving the problems of multi coupling,disturbance and high complexity of the omnidirectional mobile robot control system,a method combing fuzzy PID controller and fuzzy PD controller is designed.The fuzzy PID controller was designed to control the motor,and the fuzzy PD controller was designed to control the velocity of the robot.The simulation result in MATLAB and the robot experiment both verified the control method has high robustness and anti-interference ability.Aiming at obstacle avoidance in the process of robot inspection,a fuzzy obstacle avoidance controller is designed.4.The prototype was built and the performance of the robot and control system was tested.A series tests on the performance of omnidirectional mobile robot and the robot control system were carried out,and the correctness and feasibility of the control method which combined fuzzy PID and fuzzy PD were verified.And the test on the remote monitoring system showed that the system has excellent monitoring performance,which can store,display and analyze the warehouse information,and give early warnings to the working staff. |
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