Research On Measurement And Control System Of Mobile Detection Robot In Complex Environment

With many advanced theories and technologies being proposed in the field of robots,mobile detection robots have made great progress and have achieved significant social value and economic benefits.Mobile detection robots usually need to enter unknown dangerous and complex environments,and help people perform reconnaissance,sampling,rescue and disaster relief,emergency disposal and so on,which can greatly reduce or even avoid casualties.The research of measurement and control systems for mobile detection mobile robot in complex environment is carried out.The development of mobile detection robots at home and abroad is analyzed,and the main problems of mobile detection robots are pointed out.Based on this,the research focused on designing and implementing a mobile detection robot that can be used in complex environment.The robot adopts the local autonomous measurement and control system architecture in humancomputer interaction teleoperation mode.According to the modular,loosely coupled,hierarchical and highly usable design principles,the system is divided into drive level and sensing control level and monitor operation level.The stable and reliable electronic system is the guarantee for the good operation of the whole mobile robot.In order to realize high cohesion and low coupling between various functional modules and facilities,the mobile detection robot electronic system adopts the modularized,hierarchical and networked ideas to design,that is beneficial to integration,maintenance and upgrade of the system.The electronic system of mobile detection robot is mainly composed of power supply module,digital transmission station,image transmission station,master control module,mechanical arm control module,sensing control module,motion control module and extension module.For the functional modules of the electronic system,the robot slave computer software is designed based on the idea of modularization and multi-task.At the same time,in order to meet the real-time requirements of the robot,the whole slave computer software is transplanted with the uC/OSIII real-time operating system.In order to meet the requirements of mobile detection robots to successfully complete tasks under different use occasions,a stable and reliable human-computer interaction software system for mobile detection robots is researched and designed.The software system mainly realizes the motion control,state feedback and environmental monitoring of the robot.The humancomputer interaction system fully considers the subjective feelings of the operators,provides the operator with a better visual presence and diversified operation modes,improves the traditional human-computer interaction mode,and makes the system have a better humancomputer interaction experience.In addition,mobile detection robot also needs to have a certain degree of local autonomy,which can not only guarantee the safety and reliability of the robot itself,but also enable the robot to perform diverse tasks.In order to ensure that the robot can safely pass the stairs,the slope information of the stairs needs to be known.A method of stair angle recognition based on lidar is proposed,which solves the problem of the staircase angle recognition of the mobile detection robot during the execution of the mission.In order to make the mobile detection robot can be applied to the fire rescue scene,a fire source identification method based on machine vision is proposed.The fire commander can efficiently launch the rescue mission according to the fire source position information.