Design And Research Of Intelligent Inspection System In Shenning Coal Chemical Plant Area

The inspection of coal chemical plant area is a basic work to effectively ensure the safe operation of equipment in the plant area and improve the safety and reliability of the plant area.The existing inspection methods are mainly manual inspections,manual or handheld PDA records,each patrol time is more than 2h,and only by manual outdoor inspection for a long time,resulting in inefficient inspection work.Manual inspection generally has the disadvantages of high labor intensity,low work efficiency,scattered detection quality and high management cost.With the rapid development of robot technology,the robot technology is combined with the safety inspection of the coal chemical plant area,and the outdoor intelligent robot mobile inspection platform is designed.It is possible to carry the inspection equipment instead of the manual inspection.Therefore,this paper takes the coal chemical plant area of Ningmei Group as the research object,and builds a mobile ant colony mobile inspection model in the coal chemical plant area.Aiming at the problems of overlapping paths and long time in the coal chemical plant area,a particle swarm optimization ant colony path optimization algorithm is proposed.The specific research work is as follows:Firstly,aiming at the inspection system of the coal chemical plant area of Ningmei Group,aiming at the deficiencies in the original inspection system,the intelligent robot inspection system for the inspection of the coal chemical plant area was developed.It mainly analyzes the system composition from the whole,including the overall structure of the inspection system,the hardware design of the system,the overall technical architecture design of the monitoring system,and the overall functions of the system in combination with the background management system,communication module and inspection terminal system.design.Secondly,in view of the shortcomings of traditional mobile patrol robots using magnetic guides,fixed guides or tracking,it is proposed to use high-precision differential Beidou system and lidar navigation.The Beidou satellite navigation and positioning system was introduced,and its positioning principle was expounded.The overall framework of the inspection robot was designed.The hardware and software of the intelligent inspection robot based on the Beidou navigation and positioning system were analyzed and designed.Thirdly,Several common path optimization algorithms are introduced again.The basic principles and algorithm implementation flow of each algorithm are introduced.The advantages and disadvantages of common path optimization algorithms are analyzed and compared.Based on the analysis of the common path optimization algorithm in the fourth chapter,the particle swarm optimization ant colony path optimization algorithm is proposed for the problem of overlapping paths and long time in the process of intelligent robot inspection in coal chemical plant area of Ningmei Group.This method will use the particle swarm optimization ant colony algorithm parameters,and at the same time,by selecting the pheromone update method combining global synchronization and elite strategy,the pheromone is continuously updated in the whole algorithm solving process while updating between particles.This method can retain and accumulate enough environmental information in a short period of time,greatly reducing the number of iterations of the called ant colony algorithm.Finally,the simulation results show that the particle swarm optimization ant colony path optimization algorithm proposed in this paper has obvious advantages over the common ant colony algorithm and particle swarm optimization algorithm in optimizing the closed curve patrol path.The effect is better,which can provide useful reference for the safety inspection of the coal chemical plant area.