| At present,most of the inspection industry in hazardous chemical storage areas rely on manual on-site inspections.which will waste manpower and financial resources,If there are other accidents such as poisoning and explosion caused by the volatilization of hazardous chemicals,the personal safety and health of the inspectors will have been adversely affected.This topic first learns and understands the mature inspection products and key technologies at home and abroad in advance,and then plans a proposal of inspection robots with autonomous navigation and data detection function for hazardous chemicals storage areas that are suitable for multiple working conditions.The chassis structure was also designed,the hardware of each subsystem was selected,and the software code were written.And completing the key system test of the final prototype,which realized early warning and real-time warning of dangerous conditions,reducing major losses and The accident happened.Firstly,after investigating the actual terrain of the hazardous chemical storage area,the functional requirements of the robot chassis structure and the design indicators of the entire machine’s various functions were calibrated;after determining the chassis system walking plan and designing the suspension system,And then calculating the required power under various working conditions and selecting the power motor,and finally determining the limit climbing angle for the climbing posture in different states,and analyzing the speed of each wheel in the steering state which preparing for the subsequent motion control.Secondly,in accordance with the requirements of smooth travel under different road conditions,the overall design plan of the motion control system was determined,and the related hardware was selected according to the plan,including the main control chip,driver and various sensors,and its key parameters and the wiring between each hardware were also introduced,combined with code writing to realize speed adjustment and real-time measurement,and finally assisted by PID feedback algorithm to achieve double closed-loop speed control.Thirdly,on the basis of the research in the previous chapter,the navigation system design of the inspection robot was realized.First,the A~*algorithm was proposed as the path planning algorithm for this topic,In response to the existing problems of the traditional A~*algorithm,improvements were proposed and A~*algorithm was simulated for verification.Then,based on the selection of the magnetic navigation scheme,the correction algorithm was designed.Finally,multifunctional selection module for robots was designed with the assistance of RFID technology.Finally,for the common causes of accidents in the storage area of hazardous chemicals,a data detection system was designed.the temperature data was bilinearly interpolated to make the resolution expanded to 16 times,and this algorithm was improved;the concentration of dangerous gases was detected and an alarm module was designed;the image transmission system using modular ideas was designed;The final prototype test showed that the inspection robot can adapt to the all-terrain working environment,realize autonomous magnetic navigation movement and complete the specified inspection tasks,which meets the original design requirements. |
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