| At present,in order to eliminate the potential safety hazards in large industrial and public places,many enterprises carry out regular inspection manually,but the physiological characteristics of people make it easy to form inspection fatigue in the process of inspection,leading to work negligence.With the rapid development of intelligent technology,more and more inspection work is gradually replaced by robots,such as campus,substation,coal mine,cable and other environments.In this paper,we design in the Linux operating system and ROS open source environment,take ROS robot operating system as the core communication architecture,combine the advantages of GPS/ODO(odometer)integrated positioning and navigation,improve the navigation accuracy;use the GUI interface of QT software to design the robot remote monitoring system,mainly including positioning module,navigation module,monitoring module,etc.(1)According to the requirements of autonomous navigation and remote monitoring system of inspection robot,the overall architecture of navigation monitoring system is designed.In the remote monitoring room,the upper computer is arranged to realize the remote monitoring function,while the pan tilt camera is used for real-time monitoring of the robot;the vehicle mounted lower computer of the patrol robot realizes the independent navigation function,and the upper computer and the lower computer use WiFi communication.(2)The navigation and positioning technology of inspection robot is studied.GPS/ODO integrated positioning method is used to fuse GPS and ODO information through Kalman filter,and then state estimation and correction are carried out.ODO is the main navigation method,and GPS real-time correction is used to improve the navigation accuracy and reduce the cost.(3)The path planning algorithm of inspection robot is studied.The methods of environment modeling(visual graph,free space and grid),global path planning(Dijkstra algorithm,a*search algorithm,genetic algorithm and artificial potential field)and distance calculation(Manhattan distance,Euclidean distance and diagonal distance)are studied and verified in detail.The path planning method in this paper is determined to be optimal in time and space?(4)Design remote control software system.QT software is used to design remote positioning software subsystem to realize map positioning and navigation;ROS plug-in is used to design remote control software subsystem to realize remote control of inspection robot(5)Experiments verify the software system developed in this paper.Take the wheeled inspection robot developed by our team as the experimental platform,and carry out experiments in the campus.The results show that the system has stable performance,reliable operation,friendly interface,and can achieve autonomous navigation,remote monitoring,remote intervention and other functions. |
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