Design Of Control System Of Security Inspection Robot And Research On Obstacle Avoidance Algorithm

In the security field of the chemical industry,harmful and combustible gas leakage can cause various safety hazards.Most of the traditional security inspections are still in the manual inspection stage.Aiming at the problems of personal safety,missed inspections and production efficiency in traditional chemical industry security inspections,this paper designs a security inspection robot control system,which fully combines inspections,monitoring and control,and greatly improves inspections effectiveness.First of all,according to the design requirements of the robot,the development status of security inspection robots was understood through consulting a large number of references.Aiming at the problems of safety and missed inspections in traditional chemical security inspections,the overall plan and related algorithms of the system were determined after combining with modular design ideas.Secondly,design the hardware system according to the overall plan,which mainly includes power supply module,motor drive module,data acquisition module and so on.In terms of power supply,lithium batteries were used as power sources,and multiple power conversion circuits were designed for peripheral applications;in terms of data collection,the ARM processor was used to complete multi-sensor data collection,voice alarms,etc.,and to complete the drawing of some circuit PCB diagrams.Thirdly,the software system was designed according to the overall plan.In the underlying control,this article used the transplanted μC/OS-III real-time system as the main controller core to divide the control tasks and design the flow chart of the corresponding functions.In terms of data communication,applications serial data communication protocol and network communication protocol,completed the serial and network transmission of data;at the same time,use the open source Mjpg-streamer video stream server to realize the image data transmission collected by the USB camera on the Raspberry Pi,and realize the host computer monitoring system Remote monitoring.Finally,the obstacle avoidance algorithm of the security inspection robot was researched.Aiming at the random occurrence of dynamic obstacles in the environment of static obstacles,this paper proposes a hybrid algorithm combining the improved A*algorithm and the improved artificial potential field method to successfully solve the problem of unavoidable obstacles when encountering dynamic obstacles.This paper simulates and verifies the feasibility of the hybrid algorithm,which not only avoids obstacles effectively,shortens the running time,but also improves the quality of path planning.