Design And Realization Of 3D Temperature Field Automatic Reconstruction System Based On Mobile Robot

Industrial equipment can ensure long-term safe and normal operation,which is very important for enterprises to achieve safe production and improve production efficiency.Taking the kiln equipment as an example,if the temperature is not properly controlled,the temperature in the kiln will damage the kiln lining.In severe cases,a red kiln or collapse accident will occur,causing major economic losses and even threatening the safety of workers.At present,the factory still relies on workers to regularly hold infrared thermometers to measure the temperature of the surface of industrial equipment to achieve temperature monitoring of the surface of the equipment.Even if a two-dimensional infrared imager is used,it can only be fixed or limited to the surface of the equipment.The temperature measurement in the area can not obtain the global surface temperature of the whole equipment at the same time,and this method is susceptible to the subjective factors of the workers,and the real-time and accuracy are relatively poor.If the temperature of the equipment is high,there is a certain danger to the workers.Therefore,real-time acquisition of global temperature field information on the surface of industrial equipment through automation technology has important research significance for real-time monitoring,fault diagnosis and fault handling of industrial equipment.Mobile robotics has grown rapidly in recent years and is popular for its high mobility,flexibility and security.At the same time,in order to obtain the global temperature field information of the device,the visual SLAM method for 3D scene reconstruction can be realized by using the two-dimensional camera.The infrared thermal image of the two-dimensional infrared imager is used to fuse the visible light information to realize the three-dimensional reconstruction including the temperature field information,3D Temperature field reconstruction is a new attempt and has important research value.The existing 3D temperature field reconstruction work still needs manual reconstruction of the handheld device,and it is impossible to automatically reestablish the multi-device and its ambient temperature field in a large scene like a mobile robot.In addition,the data transmission of the work requires a wired connection.So the build scenario is extremely limited.Therefore,in view of the new problem of automatic reconstruction of 3D temperature field in large-scale and multi-devices,this paper studies the 3D temperature field automatic reconstruction system based on autonomous navigation mobile robots with the global temperature monitoring of industrial equipment as the background.Under navigation,it automatically performs 3D temperature field reconstruction on industrial equipment and its surrounding scenes.The main work of this paper is as follows:(1)According to the overall design goal of the system,the system uses the wireless method for data transmission in a wide range of environments,without manual hand-held,can independently realize the 3D temperature field reconstruction function of the device and its surrounding scenes.In this paper,the whole system is designed as two subsystems of mobile robot and 3D temperature field reconstruction.In order to realize the navigation work in complex environment,this paper uses RPBF algorithm to construct the environment raster map with laser radar,and adopts the map as the premise.The hybrid path planning algorithm combined with path planning A*algorithm and local path planning DWA algorithm implements path planning and dynamic obstacle avoidance.Based on the improvement of RTAB-MAP visual SLAM algorithm,a method of fused infrared thermography for 3D temperature field reconstruction is proposed.In order to improve the robustness of the reconstruction system,infrared images are introduced in the visual odometry and loop closure detection,and the visual odometry and loop closure detection redundancy mechanism is proposed.In addition,combining the functions of the two subsystems,the strategy of specific task automatic path planning and navigation reconstruction multi-task collaborative processing is proposed.(2)For the whole system,based on the ROS platform,five functional nodes are designed,namely image preprocessing node,3D reconstruction node,robot grid map construction node,robot navigation node and automatic path planning and multitask collaborative processing node.Detailed parameter configuration on 3D reconstruction nodes,robot grid map construction nodes and navigation nodes are for better results.In the image preprocessing node,the internal parameters of the RGB-D camera and the infrared camera are respectively calibrated,and the spatial registration and time synchronization are performed for the RGB image,the depth image with the infrared image size and the acquisition frequency.In the automatic path planning and multi-task collaborative processing node,the automatic path planning strategy is designed for the specific reconstruction task,and the multi-task collaborative processing of the navigation task and the reconstruction task is realized.In addition,the URDF model of the robot is designed and the TF coordinate transformation of the whole system is determined.(3)The physical platform of mobile robot was built.The experimental and experimental verification of the 3D temperature field automatic reconstruction system based on autonomous navigation mobile robot was carried out in the laboratory environment.For the mobile robot subsystem,the construction experiment,navigation experiment and obstacle avoidance experiment are designed respectively.For the 3D temperature field reconstruction subsystem,the visual odometry feature extraction experiment and loop closure detection experiment are designed.The 3D reconstruction experiment of generating RGB point cloud and the 3D temperature field reconstruction experiment of generating infrared point cloud are performed in the two scenarios.The results show that the system can meet the design goals and achieve the corresponding functions.At the same time,after the experiment,the limitations,advantages and disadvantages of the industrial infrared camera in the 3D temperature field reconstruction of industrial equipment and its surrounding environment are analyzed.It lays the foundation for global temperature monitoring of industrial equipment.