Design And Implementation Of A Prototype Of Indoor And Outdoor Routing Inspection Mobile Robot Based On Laser Radar

With the steady growth of China’s social economy, more and more corporate giant plant, high-tech park, giant shopping malls continue to appear in the national life, but for the safety and security of these sites proposed new special needs. Usually these places in security tasks are done by human security, but with the increasing scope inspection, different mix of indoor and outdoor environments, the employer continued to go higher cost factor. Just rely on manpower to meet the increasingly complex security requirements can not be unrealistic. Also in some dangerous environments, human security is not suitable for the implementation of the inspection work, such as in the substation plant, high voltage environment everywhere, it is very dangerous to humans, but this place has a similar relationship to a community even a normal life in the city, the need for safety and security at all times. All this gave birth to a special service inspection mobile robot. Design goal of this project is to design a mobile robot that can do inspection outdoor work under manual control, but also capable of autonomous mobile robots indoor inspection work completed prototype solutions.In order to achieve our design goals, mainly to complete the following study design content. First of all, according to our subject objectives, design inspection mobile robot hardware platforms. Including design and production of mobile robot hardware architecture, peripheral hardware circuit design, sensors and other equipment interface design, driven development of eHRPWM and eQep coding counter under Omap platform drivers based on Linux systems.Secondly, the complete manual control of the outdoor environment mobile inspection robot system software design and implementation. Mainly includes five aspects. First, completing remote real-time image monitoring software based on IVA-HD hardware image coding engien technology. Second, the implementation of software-based remote inspection tasks remotely handle inspection mobile robot. Third, completing remote real-time visualization of mobile robot position monitoring software based on GPS technology. Fourth, detecting human targets and tracking external control terminal in real-time PC display based on the characteristics of the human body Hog target detection and CamShift target tracking algorithm to. Fifth, detecting obstacle to avoid accidental collision based on laser radar sensor. Finally, I complete the indoor environment autonomous inspection mobile robot prototype system software design and implementation. These include the following two aspects. First, build their own indoor local map based on ROS dealing with laser radar sensors. Second, Using the local indoor map data, after completing the scanning task, autonomous path planning, self out of the indoor environment of the software and implementation.After completing development and design of a prototype of indoor and outdoor routing inspection mobile robot based on laser lidar, I carried out verification and testing each function. The experimental results show that the hardware and software of mobile inspection robot system are able to work effectively in accordance with the design requirements, and operational status well, to achieve the desired design purpose. After in-depth study of autonomous navigation based on GPS and laser radar and other sensors to study all intelligent indoor and outdoor inspection mobile robot provides an ideal platform for a reliable basis for research experiments.