Research And Design Of Tunnel Intelligent Patrol Robot

With the increasing support of the state for the development of industrial robots,a variety of robots have been widely used in industries more and more.However,most of the sub-industries of tunnel monitoring still use manual detection method,which has the shortcomings of low efficiency,high cost and inaccuracy.A few of them use automatic patrol robots,but they are not intelligent devices.In order to make up for the blank of the application of intelligent inspection robot in tunnel monitoring,this thesis will study and design the intelligent inspection robot in tunnel based on the specific application background of the industry.As an intelligent information acquisition terminal,the inspecting robot can collect the image and environment information in the tunnel by using the traveling mechanism driven by lifting rail and motor.Its intellectualization is embodied in two aspects:automatic charging and accurate positioning.Firstly,the key technologies of patrol robot are analyzed and studied.In order to realize automatic charging,electromagnetic resonance wireless charging technology is selected.Aiming at the problem that intelligent patrol robot has the function of precise positioning,this thesis compares various positioning technologies and combines with the specificity of patrol robot.In the application environment,the inertial precise positioning technology is selected,and the Kalman filter algorithm is used to process the output data of the inertial sensor to achieve precise positioning.Aiming at the problem of automatic charging of robot batteries,through the analysis of related technology theory and practical application,wireless charging technology is proposed to solve the problem of automatic charging of robot batteries.Based on the research of key technologies,the hardware circuit and key components of intelligent patrol robot are selected and designed,including processor core circuit,power supply circuit,battery charge and discharge management circuit,wireless charging circuit,acceleration sensor circuit and error elimination circuit.At the same time,the software program is designed,including the main program,location calculation subroutine and 4G communication subroutine.At the end of the thesis,the performance parameters such as wireless charging,accurate positioning and power consumption of the intelligent patrol robot are tested.The test results show that the wireless charging distance of the tunnel intelligent patrol robot studied in this thesis can achieve the effect of remote charging,the positioning accuracy can reach 1%,and the working time of low power consumption can be as long as 600 hours.It can reach the expectation of practical application.