Design And Research Of 5G-Based Tracked Intelligent Inspection Robot For Grain Storage

Food security has become an issue of great concern to our government.Grain in the process of storage will occur mildew phenomenon,leading to a large amount of food loss.From the perspective of ensuring the quality of grain storage,this topic designs a tracked intelligent food storage inspection robot based on 5G technology by analyzing the factors that affect the process of grain storage.The robot can realize inspection in the granary,detect the temperature and humidity data in the granary,and collect information such as images and videos.In the inspection process,the moldy grain can be identified and recorded,so as to facilitate management.Firstly,this paper studies and analyzes the kinematics related problems of the inspection robot,and calculates the positive solution of the kinematics equation of the granary inspection robot.In the process of analyzing and solving the positive solution,we also calculate the inverse solution of the kinematics equation.On the basis of the forward and inverse solutions,we solved the Jacobian matrix of the inspection robot,and established the linear transformation relationship between the space velocity of the end effector and the space velocity of the joint of the inspection robot.By analyzing the working environment and functional requirements of the inspection robot,the core hardware of the robot is designed,which mainly includes the core control board,temperature and humidity sensor,depth camera,laser radar,manipulator and servo motor,etc.,and the overall system control design and communication scheme design are completed.Based on several common SLAM(Simultaneous Localization and Mapping)technologies and path planning algorithms,MATLAB software is used to simulate and compare the algorithms.Finally,the algorithm design of the global path planning and local path planning of the inspection robot is determined,and the results of the design are verified by the subsequent experiments.