Design Of Mobile Detection Robot Based On Laser Radar

With the continuous development of social economy and the continuous progress of science and technology,more and more tasks need to be done by human beings.This prompted people to invent many kinds of robots that can replace themselves to accomplish different tasks,so robot technology has been developing rapidly.The robot can replace the staff to complete a lot of high-load work,greatly alleviating the labor intensity of the staff,and can also replace the staff to enter some dangerous situations or accomplish some dangerous tasks,guaranteeing the safety of the staff.In a lot of exploration activities and tasks in the unknown area,there is a need to enter the potentially dangerous unknown places,such as the exploration of the mine or the scientific research inside the tunnel,the rescue activities in the factory where explosion or fire happened,and so on.When these tasks are being done,the staff will probably face the danger of life because there is no understanding of the situation inside the unknown place.This requires a mobile detecting robot,which can detect the environment of the unknown place before people enter the unknown place,making path planning,traversing the whole unknown environment in full coverage,and obtaining the complete environmental information of the whole unknown place.According to the environment information obtained by the robot,people can plan the task better,prepare for safety-related preparations and plans ahead of time,and,to some extent,avoid accidents that endanger human safety.The design goal of this project is to design a mobile robot which can enter and detect the unknown place and can make path planning,traversing the unknown environment that need to be detected in full coverage and sending the detected environmental information to the monitors outside to make them understand the general situation of the unknown place.According to the design goal,firstly,the hardware platform of the mobile detecting robot is designed,including the design of the mechanical structure of the robot and the design and manufacture of the main control circuit board.Laser radar is used as the main detecting method,scanning the surrounding environment to obtain and process.The data is abundant and accurate,and the speed of data acquisition is fast.The robot is also equipped with related sensors to obtain the state information of the robot movement and the interface circuit is designed to connect the sensor to the main control circuit board.Secondly,the software is developed for mobile detecting robot to control the robot and achieve the target function.The driver software is developed to ensure the normal communication between external sensors and devices and ensure the acquisition and control of the robot's motion state.On this basis,the application service software is developed to control the motion of the robot,obtain and process the environmental information,send the data to the upper computer,receive the instructions of the upper computer to change the behavior of the robot,and so on.Finally,the inner spiral coverage algorithm is applied and the corresponding software is developed.The mobile detecting robot covers the whole unknown place that needs to be detected in the way of inner spiral,collecting and obtaining all the environment information in all directions,making path planning,traversing the whole unknown place,avoiding obstacles and recording the environmental map.After the design and development of the mobile detecting robot based on laser radar are completed,its function designed is verified and tested.The experimental results show that the mobile detecting robot can basically accomplish the target task.In the environment that is not very complex,the trajectory can cover the whole environment,record the environment map,obtain the environmental information and transmit it to the upper computer,and adjust the motion state according to the command of the host computer.Although there are still some defects in the mobile detecting robot designed by this project,it has basically achieved the desired purpose,which lays a foundation for the future research and improvement of technology.