| With the rapid development of robot technology,the application of robots in various industries is becoming more and more extensive,and various tasks undertaken by robots in different working environments.In order to ensure the safe operation of equipment in power plants,substations and the factories with many power equipment,regular inspections of main cable lines are required to promptly discover hidden safety hazards such as overheating of cables.The traditional inspection method manual inspection with low work efficiency and incomplete data records.And the harsh inspection environment is harmful to health of the inspection workers.So the intelligent inspection robot came into being.In this thesis,according to the requirements of the inspection task of a factory in Qingdao,a trackless inspection robot based on Lidar is researched and designed.The environmental information is acquired by the robot through the lidar,and the environmental map model is established and used for positioning and navigation.During the movement of the robot,the on-site temperature information is collected through infrared temperature measurement sensor and uploaded to the central control room through the in-plant local area network.The on-site situation can be observed by the staff through the temperature cloud.The main work of this thesis is as follows:(1)The thermal imaging inspection robot system based on Lidar is built.According to the working environment and inspection tasks of the inspection robots,appropriate hardware modules are selected,the machinery is assembled and the electrical is installed,and the control program and communication program of the STM32 microcontroller are written in C language.The main hardware modules such as lidar,infrared temperature sensor and WIFI communication are introduced.The STM32 microcontroller uses PWM technology to control the robot power motor program,and the I2 C communication program between the STM32 and the temperature measurement module,and the WIFI and host computer wireless communication program are written.After actual commissioning,the inspection robot is successfully used in the follow-up work of this study.(2)Aiming at the actual demand,the algorithms for positioning,mapping and path planning of inspection robot are researched.The environmental data is collected by robot through Lidar,the environmental feature map is constructed by Hough transform and least squares fitting.the feature points in the environment are extracted and used as the SLAM algorithm to locate the inspection robot.and Matlab is used as the simulation experiment of the Extended Kalman Filter SLAM algorithm.According to the different inspection tasks,the A* algorithm can be used by the inspection robot to find the optimal trajectory between the starting point and the target point for fixed-point inspections,and the inner spiral operation mode can also be used for area full coverage inspection in the cable trench environmen.(3)The temperature nephogram is completed.The on-site temperature information is collected by the inspection robot through the MLX90640 infrared temperature sensor,and the temperature data is interpolated by the host computer management software to display the on-site temperature distribution.The color corresponding to the temperature is defined according to the RGB value of the color,the temperature image is enlarged and the resolution of the imaging is improved.Finally,according to the main functions of the inspection robot,a test environment is built in the laboratory to test the main functions of the inspection robot,which laid the foundation for the subsequent development of the inspection robot. |
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