Research And Development Of Unmanned Inspection Device And System Driven By Two Axes For River Environment

With the development of intelligent industry represented by the automobile industry,the application of intelligent inspection system is in the stage of rapid development.The intelligent patrol system relies on its flexible mobile ability,fast data processing ability and rich expansion performance,which leads to a new solution to the patrol task in the specific environment.Under the background of the current river and lake environmental governance,in order to better serve the patrol monitoring,management and protection in the river environment,this paper designs and implements an unmanned patrol detector for the river environment,and constructs a network connection system of the unmanned patrol detector.The key hardware,software and obstacle avoidance algorithms are studied and implemented.The specific work includes:The main contents are as follows:(1)In order to solve the problems of high cost and low flexibility of traditional river environmental monitoring methods,a differential drive unmanned patrol detector is designed.The unmanned patrol detector takes raspberry pie as the core and integrates multi-parameter information collectors such as webcam,GPS and environmental monitoring sensor to build edge computing network nodes.It can collect multi-point environmental data movably according to the remote control instruction.(2)Aiming at the problem of collision with the obstacle of speed uncertainty in the autonomous operation of the unmanned patrol detector,the speed space of the unmanned patrol detector is constructed by using the dynamic characteristics,and the speed threat level is established by combining the speed obstacle method.Design and derive a reactive obstacle avoidance strategy that meets the maritime collision rules.At the same time,the reference nodes for the beginning and end of obstacle avoidance are designed according to the dynamic distance boundary and the dynamic time boundary.The simulation results show that the strategy can enable the unmanned patrol detector to effectively avoid the obstacles of speed uncertainty according to the maritime rules,and return to the established operation route after the obstacle avoidance is completed.(3)The network connection system of unmanned patrol detector based on 4G is developed.The application layer communication protocol is designed,and the unmanned patrol terminal control software,mobile control terminal software and cloud server software system are developed.The results show that the system can support multiple unmanned patrol detectors to work online at the same time,which greatly improves the service coverage,shortens the data collection cycle,and provides efficient data support for the decision-making of river environmental governance.Through the design and development of this paper,it provides flexible and reliable data support for river environmental governance.With the unmanned patrol detector as the data perception layer,combined with the network connection system,the real-time and expansibility of environmental monitoring can be greatly improved.Through the obstacle avoidance algorithm,it is expected to further achieve the degree of automation of the system,which has a certain engineering reference value and theoretical significance.