Design And Implementation Of Indoor Power Inspection Robot System

Nowadays,with the development of technology and economy,intelligent robots gradually into people’s vision,can at any time in shopping malls,railway stations,factories,parks and other places to see new robots,some of them do some social work in the industrial site instead of manpower to complete the repetitive work.The intelligent robot can be divided into outdoor and indoor according to the action environment.The indoor robot develops faster nowadays,and many robots used in the inspection of factory facilities are developed.The technology of indoor inspection robot involves the intersection of many disciplines,mainly including the research of map building,robot positioning,robot navigation and other functions.The use of electric robot for fixed-point monitoring and inspection or long time continuous automatic patrol will be a plan to be gradually adopted in the current intensive facilities such as substations.Therefore,it is very promising to develop and develop intelligent robots with inspection ability.The main work and contributions of this article are described in detail as follows:(1)a set of robot systems which contain upper computer,medium control machine and lower computer are designed.The host computer is mainly used for the user to view the map,the state of the robot and the task of setting up the inspection.A robot decision procedure running on the ROS operation system of the central control machine is responsible for the robot’s behavior decision making,completing the required inspection tasks,and perceiving the environment and making the right driving decisions through sensors.The lower machine collects the data of the chassis of the robot,and receives the instruction from the control machine to control the wheel rotation of the robot.(2)in the robot localization module proposed a new localization algorithm,mainly to the encoder data UWB ultra wideband data acquisition to the robot chassis and fusion,generating new odometer information,and then finally get the robot position accurate estimation of laser radar data fusion.(3)a global + local path planning algorithm is proposed in the navigation module of the robot.The improved Dijkstra algorithm is adopted in the whole area.The local weight based optimal dynamic path planning algorithm is applied locally.