Robot System Based On Safety Patrol Inspection Of Waste Disposal Worksite Design Studies

With the rapid advancement of robotic technology,inspection robots are being used in an increasing number of fields.Moreover,due to the complexities of waste management siteswhich serve as comprehensive waste treatment locations with numerous stages,wide-ranging and complex equipment distribution,and relatively harsh environments-there’s a growing need for reliable and regular inspections of the working environment and associated equipment to ensure safe and efficient processing.As such,inspection robots provide a means and method for safety inspections at these waste management sites.Despite the plethora of inspection robots available in the market,most are primarily used in fields such as substations,city comprehensive pipe galleries,etc.,with few studies targeting the use of inspection robots for safety at waste management sites.This paper,taking the safety of the waste disposal site as the starting point,carries out an in-depth study of the mechanical system structure,hardware system,and software control system of the inspection robot.Firstly,based on an analysis of the current state of inspection robot research both domestically and internationally,as well as the safety inspection requirements of waste disposal sites,we defined the design requirements for the robot system.After analyzing and comparing different forms of inspection robots,we settled on an overall structural design for the robot,and modularized the design into five main parts:the robot body,locomotion mechanism,lifting mechanism,inspection platform,and suspended track.Specific design schemes were provided based on the functional requirements of each part,and the feasibility of the mechanical system structure was verified through parameter verification calculations of key components and related finite element simulations.Secondly,according to the control requirements and plan of the inspection robot,we established an electromechanical control system with STM32 microcontroller as the main controller,and carried out a selection analysis of the corresponding hardware,thus completing the construction of the entire electromechanical control system platform.In accordance with the movement requirements and inspection workflow of the inspection robot,we developed the software program for the robot’s electromechanical control system,including main control modules,motion control,data communication,positioning detection,etc.,and achieved wireless communication with the upper computer control management system and communication with the Internet of Things cloud platform,thus completing the entire electromechanical control system design.Finally,by prototyping the inspection robot,we established a testing platform,conducted trials on the walking function,lifting function,positioning function,sensor data collection function,communication function,and wireless charging function of the prototype robot.These trials preliminarily confirmed that the designed inspection robot has certain practical value and laid a solid foundation for the optimization and upgrade of subsequent products.