Research On Key Technologies Of Warehouse Security Inspection Robot

In today's society,many large warehouses generally require many cameras installed in all corners of the warehouse to ensure security.In addition to optical information,thermal information are simultaneously needed to be monitored.However,large-scale far-infrared cameras on the market are expensive and unpractical.Based on the analysis of the actual demand,this paper designs a warehouse security inspection robot which combines the mobile robot and the security system.The main content is as follows:The overall mechanical structure is designed,which applies an independently designed omnidirectional chassis with the Mecanum wheel structure to ensure the stability during the inspection,a new-designed two-degree-of-freedom pan-tilt supporting up-down rotation and 360-degree rotation to ensure HD binocular camera,thermal infrared camera and various sensors to collect data without any dead angle.The hardware control system based on two microcontroller development boards,MIQI-RK3288 and STM32F427 II,is designed.The hardware designs of each module of the robot are analyzed in detail.The algorithm of the bottom controller,mainly including the fuzzy PID algorithm to control the body motor and the algorithm to solve the motion calculation of the Mecanum wheels of the omnidirectional mobile platform,is designed.An independent navigation algorithm is proposed,which applies the construction of two-dimensional map,the location of the robot,an improved ant colony algorithm and an improved BUG algorithm to realize the static and dynamic path planning with obstacle avoidance.An image stitching algorithm is proposed.Firstly,the SIFT algorithm based on feature point extraction is used to perform feature point matching.Secondly,the random sampling consistency algorithm RANSAC algorithm is used to eliminate the incorrect matching points.Finally,matching points are used to perform image stitching by the weighted average method.Tests in the laboratory environment verify that the warehouse security inspection robot can autonomously plan its walking route to patrol,collect video data and detect heat source target on the patrol route.Results show the efficiency,stability,reliability,high accuracy of the robot and its feasibility to replace the manual inspection to save cost.