Design And Development Of Automatic Navigation And Control System For Security Patrol Robot

Today's society is rapidly developing.The terrorists at home and abroad are also eyeing the criminals using high-tech means to carry out terrorist activities from time to time.In the field of public safety,there are not only external terrorist forces but also various industries such as manufacturing,transportation security and medical livelihood Internally,there are potential safety hazards.In this case,the safety and explosion-proofing robots come into being.The safety and explosion-proofing robots can perform vehicle detonation inspection,eruption of large-scale activity sites,security patrols of residential quarters,and the like.In this paper,an automatic navigation and control system for safety explosion-proof robots is designed,which is mainly used in the areas of safety inspection and emergency safety inspection of people's livelihood.The mathematical model is established by using RTK navigation and positioning technology.First,the geographical coordinate information of the robot is obtained,and then the obtained three-Dimensional coordinates to obtain the robot's position in the global environment information,the use of electronic compass real-time access to the robot's current posture,combined with the improved A Star algorithm into the path planning,path planning in the process of establishing a grid map to the traditional The unidirectional path-finding algorithm is improved to a bidirectional path finding algorithm,which improves the search efficiency of the optimal path.After the two-way A Star algorithm obtains the optimal path,a new method is used to remove path redundant points and improve the smoothness of the robot's operation Degree,combined with the principle of ultrasonic detector ranging,in the navigation during the encounter emergency situation to make the corresponding emergency strategy.Then introduces the working principle of the control system of the safety explosion-proof robot and the design of the overall framework.The hardware part is composed of main controller,power module,motor drive module,sensor information acquisition module,screen segmentation module and Ethernet communication,embedded in the underlying development of real-time operating system UCOS-III,and to achieve system migration and the underlying code,The host computer and the next machine through the Ethernet communication between the realization of online debugging and remote monitoring.